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Optimal control for indoor overhead crane systems with predefined course of crab
Author(s) -
Blume Bodo,
Büskens Christof
Publication year - 2008
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.200810107
Subject(s) - course (navigation) , overhead (engineering) , trajectory , arc (geometry) , focus (optics) , control theory (sociology) , optimal control , state (computer science) , computer science , control (management) , engineering , marine engineering , mathematics , mechanical engineering , mathematical optimization , physics , algorithm , artificial intelligence , optics , aerospace engineering , operating system , astronomy
Most papers on optimal control of 3D overhead cranes focus on systems without constraints for the course of the crab (for example [1], [3]). Based on a general 3D model a minimal model with 2 degrees of freedom is developed. Starting from a given initial state the optimal control to reach a given final state is calculated for some predefined courses of the crab. For different turning angles and speeds of the crab an arc of a sine, parabola, circular and an arc of two symmetric clothoid segments have been investigated. Calculations for different values of the mass of the load, turning angles and speed of the crab are presented. (© 2008 WILEY‐VCH Verlag GmbH & Co. KGaA, Weinheim)