Gantry crane control of a double-pendulum, distributed-mass load, using mechanical wave concepts

William O'Connor, Hossein Habibi

Research output: Contribution to journalArticle

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Abstract

The overhead trolley of a gantry crane can be moved in two directions in the plane. The trolley is attempting to control the motion of a suspended, rigid-body, distributed mass load, supported by a hook, modelled as a lumped mass, in turn connected to the trolley by a light flexible cable. This flexible system has six degrees of freedom, four variables describing the flexible, hanging load dynamics and two (directly controlled) input variables for the trolley position. The equations of motion are developed and the crane model is verified. Then a form of wave-based control (WBC) is applied to determine what trolley motion should be used to achieve a reference motion of the load, with minimum swing during complex manoeuvres. Despite the trolley's limited control authority over the complex, flexible 3-D dynamics, WBC enables the trolley to achieve very good motion control of the load, in a simple, robust and rapid way, using little sensor information, with all measurements taken at or close to the trolley.
Original languageEnglish
Pages (from-to)251-261
Number of pages11
JournalMechanical Sciences
Volume4
Issue number2
Publication statusPublished - 1 Dec 2013

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