Title :
Modeling of a Rope-Driven Self-Levelling Crane
Author :
Zhang, Jianhong ; Zhao, Dongbin ; Yi, Jianqiang ; Yu, Yi
Author_Institution :
Lab. of Complex Syst. & Intell. Sci., Chinese Acad. of Sci., Beijing
Abstract :
This paper concerns the fields of the eccentric payload crane systems. We firstly introduce a four-rope-driven self-levelling crane system, which can adjust the payload to level precisely and safely by changing the lengths of the ropes. Then, the system model is deduced according to force equation, moment equation principles and geometry restrictions, without considering the acceleration items. Finally, a control strategy is proposed to adjust the system.
Keywords :
cranes; ropes; eccentric payload crane system; force equation; four-rope-driven self-levelling crane system; geometry restriction; moment equation principle; Acceleration; Assembly; Control systems; Cranes; Equations; Geometry; Laboratories; Payloads; Sliding mode control; Solid modeling;
Conference_Titel :
Innovative Computing Information and Control, 2008. ICICIC '08. 3rd International Conference on
Conference_Location :
Dalian, Liaoning
Print_ISBN :
978-0-7695-3161-8
Electronic_ISBN :
978-0-7695-3161-8
DOI :
10.1109/ICICIC.2008.370
