Title :
Modelling and anti-sway control of rotary cranes
Author :
Palis, Frank ; Palis, Stefan
Author_Institution :
Inst. of Electr. Energy Syst., Otto-von-Guericke-Univ., Magdeburg, Germany
Abstract :
Dynamics of rotary cranes is described by a complex non-linear system of governing equations with 5 DOF. This complexity of motion complicates the design of control system and its practical application. Using the principle of motion separation into a fast and a slow component facilitates considerably control task.
Keywords :
control system synthesis; cranes; electric drives; motion control; nonlinear control systems; DOF; antisway control; complex nonlinear system; control system design; electric drive; motion complexity; motion separation; optimal control; rotary crane; Cranes; Damping; Dynamics; Load modeling; Mathematical model; Trajectory; electrical drive; modeling; optimal control industrial application;
Conference_Titel :
Power Electronics and Motion Control Conference (EPE/PEMC), 2010 14th International
Conference_Location :
Ohrid
Print_ISBN :
978-1-4244-7856-9
DOI :
10.1109/EPEPEMC.2010.5606573
