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Active damping of rotational load oscillations at container cranes by individual rope length actuation
Author(s) -
Kreuzer Edwin,
Radisch Christian
Publication year - 2013
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.201310223
Subject(s) - rope , control theory (sociology) , actuator , container (type theory) , nonlinear system , coupling (piping) , position (finance) , rotational speed , controller (irrigation) , wire rope , mechanics , degrees of freedom (physics and chemistry) , rotation (mathematics) , physics , classical mechanics , engineering , structural engineering , computer science , control (management) , mechanical engineering , mathematics , electrical engineering , geometry , agronomy , finance , quantum mechanics , artificial intelligence , economics , biology
A particular challenge in the field of container crane control are rotations of the load about its vertical axis when neither special rotational actuators nor variable configurations of the rope directions are available. It is possible to enhance damping of rotational load oscillations by changing the rope lengths individually. Under the assumption of rigid ropes, a model representing the approximate dynamical behavior of the oscillator with three degrees of freedom is developed which reflects the nonlinear coupling effects between the degrees of freedom. This model is used for a stabilizing controller design with only the position of the trolley and the rope lengths actuated. (© 2013 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)