Title :
Nonlinear Dynamic Modelling and Analysis of a 3-D Overhead Gantry Crane System with Payload Variation
Author :
Ismail, R. M T Raja ; Ahmad, M.A. ; Ramli, M.S. ; Rashidi, F.R.M.
Author_Institution :
Fac. of Electr. & Electron. Eng., Univ. Malaysia Pahang, Kuantan, Malaysia
Abstract :
Overhead cranes are widely used in industry for transportation of heavy loads. The natural sway of crane payloads is detrimental to safe and efficient operation. However, the crane acceleration, required for motion, always induces undesirable load swing. This paper presents dynamic modelling of a 3-D overhead gantry crane system based on closed-form equations of motion. The Lagrangian method is used to derive the dynamic model of the system. A dynamic model of the system incorporating payload is developed and the effects of payload on the response of the system are discussed. Extensive results that validate the theoretical derivation are presented in the time and frequency domains.
Keywords :
cranes; transportation; 3-d overhead gantry crane system; Lagrangian method; closed-form equations; crane acceleration; frequency domains; nonlinear dynamic analysis; nonlinear dynamic modelling; payload variation; time domains; transportation; Acceleration; Analytical models; Automatic control; Cranes; Equations; Frequency domain analysis; Lagrangian functions; Mathematical model; Nonlinear dynamical systems; Payloads; 3-D overhead gantry crane; Lagrangian method; dynamic modelling;
Conference_Titel :
Computer Modeling and Simulation, 2009. EMS '09. Third UKSim European Symposium on
Conference_Location :
Athens
Print_ISBN :
978-1-4244-5345-0
Electronic_ISBN :
978-0-7695-3886-0
DOI :
10.1109/EMS.2009.71
