Title :
Stability analysis and control of overhead crane with time-dependent flexible cable
Author :
Moustafa, Kamal A.F. ; Trabia, Mohamed B. ; Ismail, Mohammed I.
Author_Institution :
Dept. of Mech. Eng., United Arab Emirates Univ., Al-Ain
Abstract :
A mathematical model of an overhead crane system with load hoisting and a flexible cable is presented. The model consists of a hyperbolic partial differential equation describing the dynamics of the moving flexible cable and ordinary differential equations describing the trolley and payload dynamics. Lyapunov direct method is used to design a model-based boundary control law that achieves trolley and payload desired positions and ensures vibration reduction of the flexible cable. The proposed control law is based on measurable variables for the trolley and the cable. The stability of the closed loop system under this boundary control scheme is proved through the use of inequality and metric analysis
Keywords :
Lyapunov methods; closed loop systems; cranes; dynamics; partial differential equations; position control; stability; vibration control; Lyapunov direct method; cable position; closed loop system stability; hyperbolic partial differential equation; inequality analysis; load hoisting; mathematical model; metric analysis; model-based boundary control law; moving flexible cable dynamics; ordinary differential equations; overhead crane control; payload dynamics; payload position; stability analysis; time-dependent flexible cable; trolley dynamics; vibration reduction; Control systems; Cranes; Differential equations; Force control; Mechanical cables; Mechanical engineering; Partial differential equations; Payloads; Power cables; Stability analysis;
Conference_Titel :
Advanced Intelligent Mechatronics. Proceedings, 2005 IEEE/ASME International Conference on
Conference_Location :
Monterey, CA
Print_ISBN :
0-7803-9047-4
DOI :
10.1109/AIM.2005.1511223
