Dependent versus Independent Variable Formulation for the Dynamics and Control of Cranes

Abstract:

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Cranes are underactuated mechanical systems with fewer control inputs than the degrees of freedom. Their usual performance goal is to execute a desired load trajectory, which is specified by as many outputs as the control inputs. A solution to the inverse simulation problem, in which the control of the underactuated system required to execute the partly specified motion is determined, is a challenging task. The inverse simulation study is usually formulated in independent variables. In this paper a dependent variable formulation is reported, advantageous in many aspects. The resultant governing equations appear as simple index-three differential-algebraic equations, and an effective numerical code for their solution is discussed.

Info:

Periodical:

Solid State Phenomena (Volumes 147-149)

Edited by:

Zdzislaw Gosiewski and Zbigniew Kulesza

Pages:

221-230

DOI:

10.4028/www.scientific.net/SSP.147-149.221

Citation:

W. Blajer and K. Kołodziejczyk, "Dependent versus Independent Variable Formulation for the Dynamics and Control of Cranes", Solid State Phenomena, Vols. 147-149, pp. 221-230, 2009

Online since:

January 2009

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Price:

$35.00

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