NDLI: Observer design for boom cranes with double-pendulum effect

Content Provider	IEEE Xplore Digital Library
Author	Neupert, J. Heinze, T. Sawodny, O. Schneider, K.
Copyright Year	2009
Description	Author affiliation: Liebherr Werk Nenzing GmbH, A-6710, Austria (Schneider, K.) \|\| Institute for System Dynamics, Universität Stuttgart, Germany (Neupert, J.; Heinze, T.; Sawodny, O.)
Abstract	Under certain conditions the payload oscillation inherent to all crane systems cannot be described by a single-pendulum but shows a double-pendulum like behavior. In that case anti-sway concepts have to be adapted to the new system. For the here given application case the rope angles of the double-pendulum have to be reconstructed out of gyroscope signals, in order to make the full state information available. Therefore an observer concept is proposed which considers the double-pendulum dynamics, measurement errors, and disturbances such as higher natural oscillations of the rope itself. As the observers are based on the linear payload dynamics a sufficient representation is derived applying the Euler-Lagrange formalism. The models are validated by evaluating measurements obtained form an experimental setup. The final observer concept is implemented at a LIEBHERR harbor mobile crane. The measurement results are presented and discussed to show the performance of the proposed observers.
Starting Page	1545
Ending Page	1550
File Size	1698266
Page Count	6
File Format	PDF
ISBN	9781424446018
ISSN	10851992
DOI	10.1109/CCA.2009.5281042
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-07-08
Publisher Place	Russia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cranes Sliding mode control Control systems Trajectory Payloads Gyroscopes Poles and towers Robustness Frequency Fuzzy control
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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