Gantry Crane Dynamic Modeling and Motion Control

Wen Zheng Du; Zheng Xie; Fei Lu; Yuan Cao

doi:10.4028/www.scientific.net/AMM.419.649

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 419Gantry Crane Dynamic Modeling and Motion Control

Gantry Crane Dynamic Modeling and Motion Control

Abstract:

In this paper, a new anti-swing control scheme is proposed for a three dimensional gantry crane. The proposed control is based on linear two optimum output regulation technology. The proposed control guarantees not only prompt suppression of load swing but also accurate control of crane position for simultaneous travel, traverse, and hoisting motions of the crane. Furthermore, the proposed control provides practical gain tuning criteria for easy application. The effectiveness of the proposed control is shown by simulation with a three-dimensional gantry crane.

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Periodical:

Applied Mechanics and Materials (Volume 419)

Pages:

649-653

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.419.649

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Online since:

October 2013

Authors:

Wen Zheng Du, Zheng Xie, Fei Lu, Yuan Cao

Keywords:

Dynamic Modeling, LQR Control, Simulation, Three-Dimensional Gantry Crane

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