NDLI: Nonlinear analysis of time-delay position feedback control of container cranes

Content Provider	Springer Nature Link
Author	Nayfeh, Nader A. Baumann, William T.
Copyright Year	2007
Abstract	Time-delay feedback control of container cranes is robustly stable and insensitive to initial conditions for most of the linearly stable region. To better understand this robustness and any limitations of the technique, we undertake a nonlinear analysis of the system. To this end, we develop a nonlinear model of the crane system by modeling the crane-hoist-payload assembly as a double pendulum. Then, we derive a linear approximation specific to this model. Finally, we derive a cubic model of the dynamics for nonlinear analysis. Using linear analysis, we determine the gain and time delay factors for stabilizing controllers. Also, we show that the controller undergoes a Hopf bifurcation at the linear stability boundary. Using the method of multiple scales on the cubic model, we determine the normal form of the Hopf bifurcation. We then show that for practical operating ranges, the controller undergoes a supercritical bifurcation that helps explain the robustness of the controller.
Starting Page	75
Ending Page	88
Page Count	14
File Format	PDF
ISSN	0924090X
Journal	Nonlinear Dynamics
Volume Number	53
Issue Number	1-2
e-ISSN	1573269X
Language	English
Publisher	Springer Netherlands
Publisher Date	2007-10-11
Publisher Place	Dordrecht
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Time-delay feedback Container cranes Method of multiple scales Hopf bifurcation Automotive and Aerospace Engineering, Traffic Mechanical Engineering Mechanics Vibration, Dynamical Systems, Control
Content Type	Text
Resource Type	Article
Subject	Ocean Engineering Applied Mathematics Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Aerospace Engineering

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