Control of Operational Motions of a Mobile Crane under a Threat of Loss of Stability |
| Journal |
Solid State Phenomena (Volume 144) |
| Volume |
Mechatronic Systems and Materials II |
| Edited by |
Inga Skiedraite and Jolanta Baskutiene |
| Pages |
77-82 |
| DOI |
10.4028/www.scientific.net/SSP.144.77 |
| Online since |
September, 2008 |
| Authors |
Jacek Kłosiński,
Jarosław Janusz
|
| Keywords |
Control System, Mobile Crane, Stability |
| Abstract |
A mathematical model of the control system of a mobile crane is presented in the paper.
The system controls the slewing motion of the chassis as well as it is applied in the model of the
emergency subsystem which changes the jib reach. The latter one is initiated at the moment when
the threat of loss of stability occurs. Some results of numerical analysis are presented in this paper.
The results are related to different strategies of control of the slewing motion as well as to different
types of controllers applied in the main loop of control and emergency subsystem. The results of
experimental studies are reported as well. The experiments were performed using custom-built
testing setup, which represents a kinematic model of a crane. |
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