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Modelling and Control of an Overhead Crane System with a Flexible Cable and Large Swing Angle

Published on Dec 1, 2014in Journal of Low Frequency Noise Vibration and Active Control
· DOI :10.1260/0263-0923.33.4.395
Mohammad H. Fatehi3
Estimated H-index: 3
(IAU: Islamic Azad University),
Mohammad Eghtesad17
Estimated H-index: 17
(Shiraz University),
Roya Amjadifard4
Estimated H-index: 4
(Kharazmi University)
Abstract
This paper deals with modelling and control of an overhead crane with a flexible cable. The developed dynamical model includes both transverse vibrations of the flexible cable and large swing angles of cable while the trolley is moving horizontally. To carry out the modelling, Rayleigh-Ritz discretization method is used to achieve an ordinary differential equation (ODE) model for transverse deflection of the cable with finite generalized degrees of freedom. Using the Euler–Lagrange formulation, a nonlinear dynamic model of the crane system with a flexible cable is obtained. The control objective is to move the payload position to the desired point and at the same time, to reduce the payload swing and to suppress the cable’s transverse vibration. To this end, a static state feedback control combined with integral error feedback is proposed. Simulations are performed using the developed nonlinear model under various conditions to illustrate the effectiveness of the proposed control system. Keyword: Overhead crane system; Cable vibration; Vibration suppression, Anti-swing
  • References (27)
  • Citations (3)
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This paper introduces a novel mathematical model that represents an overhead crane with flexible cable and load hoisting/lowering. The model includes the transverse vibrations of the flexible cable. Highly non-linear Partial Differential Equations and Ordinary Differential Equations that govern the motion of the crane system within the time-varying spatial domain are derived via calculus of variation and Hamilton's principle. A proportional derivative control scheme is applied to drive the under...
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Abstract Crane systems are tremendously utilised in numerous heavy load transportation industries, and therefore, the control of crane systems is a well-established research field. As the last review paper was published more than a decade ago, there is a lack of collected and organised information regarding the latest and the newest updates on control strategies for crane control systems. Hence, this paper presents a comprehensive review of crane control strategies discussing the latest research...
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This paper aims to develop an advanced control system for an overhead crane with transverse vibrations of flexible cable while considering large angle of the cable swing. The control objective is to move the payload to a desired position and at the same time, to reduce the payload swing and to suppress the cable transverse vibrations only by applying a directional (horizontal) driving force to the trolley. The crane system with cable vibrations and large swing angle is categorized as a multi-deg...
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