DocumentCode
1846804
Title
Computation of time-optimal trajectories for tower cranes
Author
Golafshani, Ali R. ; Aplevich, J.D.
Author_Institution
Dept. of Electr. & Comput. Eng., Waterloo Univ., Ont., Canada
fYear
1995
fDate
28-29 Sep 1995
Firstpage
1134
Lastpage
1139
Abstract
A mathematical model for tower cranes is derived and computation of their optimal trajectories under control and state constraints is undertaken. Large load swings are observed in the simulation of time-optimal trajectories for the actual plant. A sub-optimal control is then proposed to keep the load swings small. Simulation of a typical case is included
Keywords
cranes; control constraints; state constraints; sub-optimal control; time-optimal trajectories; tower cranes; Application software; Buildings; Computer simulation; Cranes; Equations; Lagrangian functions; Manufacturing; Optimal control; Poles and towers; Winches;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 1995., Proceedings of the 4th IEEE Conference on
Conference_Location
Albany, NY
Print_ISBN
0-7803-2550-8
Type
conf
DOI
10.1109/CCA.1995.555920
Filename
555920
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