Khan, Zafar Haider (1993) Modelling and antiswing control of overhead cranes. Masters thesis, King Fahd University of Petroleum and Minerals.
A nonlinear dynamical model for an overhead crane is first developed. The most general motion, i.e. simultaneous travel, traverse, and hoisting, is considered. Two different mathematical models corresponding to torque control and acceleration control are derived from the general model. Linearized models, by expanding the nonlinear equations about nominal operating conditions using Taylor's series, are also presented. Optimization techniques are used to obtain a suboptimal feedback control scheme, so that an object can be transferred to a desired position as quickly as possible while minimizing the sways of the load during transfer and at the end as well. Mathematically, a boundary value problem with constraints both in the control and state variables is analyzed. A new computational technique is employed for computing the suboptimal control and several numerical results are presented. Computer simulations show that the control strategy works well.
|Item Type:||Thesis (Masters)|
|Divisions:||College Of Engineering Sciences > Mechanical Engineering Dept|
|Creators:||Khan, Zafar Haider|
|Committee Advisor:||Moustafa, Kamal A. F.|
|Committee Members:||Khulief, Yehia A. and Emara-Shabaik, H.E. and Al-Garni, Ahmed Z.|
|Deposited By:||KFUPM ePrints Admin|
|Deposited On:||22 Jun 2008 16:56|
|Last Modified:||25 Apr 2011 10:00|
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