Modeling Of A Gantry Crane Using On-Off Motor Implementation
Crane payloads frequently swing with large amplitude motion that degrades safety and throughput. Open-loop methods have addressed this problem, and has proven effective on crane but just for reducing the sway during and after move. Closed-loop methods have also been used, but generally require th...
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| Format: | Monograph |
| Published: |
UTeM
2009
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| Online Access: | http://library.utem.edu.my:8000/elmu/index.jsp?module=webopac-d&action=fullDisplayRetriever.jsp&szMaterialNo=0000054441 http://library.utem.edu.my:8000/elmu/index.jsp?module=webopac-d&action=fullDisplayRetriever.jsp&szMaterialNo=0000054441 http://eprints.utem.edu.my/4146/1/Modeling_Of_A_Gantry_Crane_Using_On-Off_Motor_Implementation_-_Siti_Rahhiah_bt_Jumali_-_TJ230.S58_2009_24_Pages.pdf http://eprints.utem.edu.my/4146/2/Modeling_Of_A_Gantry_Crane_Using_On-Off_Motor_Implementation_-_Siti_Rahhiah_bt_Jumali_-_TJ230.S58_2009.pdf |
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| Summary: | Crane payloads frequently swing with large amplitude motion that degrades
safety and throughput. Open-loop methods have addressed this problem, and has
proven effective on crane but just for reducing the sway during and after move.
Closed-loop methods have also been used, but generally require the speed of the
driving motors to be precisely controlled. This paper develops a feedback control
method for controlling motors to cancel the measured payload oscillations by
intelligently timing the ensuing on and off motor commands. To generate the on-off
motor command the measurement using payload oscillation cancellation and vector
input shaper calculation need to be used. The on-off motor command is design to
control the trolley movement without vibration and reduce the swing angle of the
payload. |
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