Dynamics and control of rotary cranes executing a load prescribed motion
作者： Wojciech Blajer , Krzysztof Kołodziejczyk
DOI:
关键词: Set (abstract data type) 、 State variable 、 Position (vector) 、 Inverse dynamics 、 Trajectory 、 Backward Euler method 、 Control theory 、 Control engineering 、 Underactuation 、 Engineering 、 Feed forward
摘要: Manipulating payloads with rotary cranes is challenging due to the underactuated nature of a system in which number control inputs/outputs smaller than degrees-of-freedom. In this paper, outputs (specified time load coordinates) lead servo-constraints on system. A specific methodology then developed solve arising inverse dynamics problem. Governing equations are derived as set index three differential-algebraic state variables and inputs. An effective numerical code for solving equations, based backward Euler method, proposed. feedforward law obtained way enhanced by closed-loop strategy feedback actual errors position provide stable tracking required reference trajectory presence perturbations. Some results simulations provided.
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