Nonlinear Modeling and Control of Overhead Crane Load Sway

[+] Author and Article Information
Kamal A. F. Moustafa, A. M. Ebeid

Department of Mechanical Engineering, Jordan University of Science and Technology, Irbid, Jordan

J. Dyn. Sys., Meas., Control 110(3), 266-271 (Sep 01, 1988) (6 pages) doi:10.1115/1.3152680 History: Received July 10, 1987; Online July 21, 2009


In this paper, we derive a nonlinear dynamical model for an overhead crane. The model takes into account simultaneous travel and transverse motions of the crane. The aim is to transport an object along a specified transport route in such a way that the swing angles are suppressed as quickly as possible. We develop an antiswing control system which adopts a feedback control to specify the crane speed at every moment. The gain matrix is chosen such that a desired rate of decay of the swing angles is obtained. The model and control scheme are simulated on a digital computer and the results prove that the feedback control works well.

Copyright © 1988 by ASME
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