Dynamic analysis and tracking trajectory control of a crane

Author:

Huang Kang  Sun Shunqiang  Zhen Shengchao  Ge Xinfang  Zhu Yongqi  

Journal:

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART E-JOURNAL OF PROCESS MECHANICAL ENGINEERING

Issue Date:

2017

Abstract(summary):

This paper introduces a method to solve the crane motion trajectory control problem. A dynamic model is proposed based on the Udwadia-Kalaba equation, which can be solved without extra parameters, such as the Lagrange multiplier. The motion trajectory of a crane is used as a constraint (referred to as trajectory tracking constraint). To satisfy the system trajectory, a method to calculate the driving conditions on the basis of the above conditions is proposed. A 2D plane dynamic model of a crane is established. Five stages of crane movement are obtained. Simulation is performed with Matlab. Simulation results simulation show that the Udwadia-Kalaba equation can be well applied to trajectory tracking control of cranes.

Page:

1045---1052