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
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;
Conference_Titel :
Control Applications, 1995., Proceedings of the 4th IEEE Conference on
Conference_Location :
Albany, NY
Print_ISBN :
0-7803-2550-8
DOI :
10.1109/CCA.1995.555920
