| Titre : | Dynamics and control of bridge cranes transporting distributed-mass payloads (2010) |
| Auteurs : | Raymond Manning, Auteur ; Jeffrey Clement, Auteur ; Dooroo Kim, Auteur |
| Type de document : | Article : texte imprimé |
| Dans : | Transactions of the ASME . Journal of dynamic systems, measurement, and control (Vol. 132 N° 1, Janvier/Fevrier 2010) |
| Article en page(s) : | 08 p. |
| Note générale : | Systèmes dynamiques |
| Langues : | Anglais |
| Index. décimale : | 629.8 |
| Tags : | Bridges (structures) Cranes Damping Human factors Input-output stability Pendulums Shape control |
| Résumé : | The large-amplitude and lightly-damped oscillation of crane payloads is detrimental to safe and efficient operation. The problem is further complicated when the payload creates a double-pendulum effect. Previous researches have shown that single-mode oscillations can be greatly reduced by properly shaping the inputs to the crane motors. This paper builds on previous developments by thoroughly describing the double-pendulum dynamic effects as a function of payload parameters and the crane configuration. Furthermore, an input-shaping control method is developed to suppress double-pendulum oscillations created by a payload with distributed-mass properties. Experiments performed on a 10-ton industrial bridge crane verify the effectiveness of the method. A critical aspect of the testing was human operator studies, wherein numerous operators utilized the input-shaping controller to perform manipulation tasks. The performance improvements provided by the input-shaping controller, as well as operator learning effects, are reported. |
| DEWEY : | 629.8 |
| ISSN : | 0022-0434 |
| En ligne : | http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000132000001014505000001&idtype=cvips&gifs=Yes&ref=no |
