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The research presented in this paper concentrates on two different control strategies for the nonlinear dynamics of a mobile gantry crane. Two levels of dynamical modelling are applied, namely the single cable approach and then the more precise and physically realistic multi-cable model. For the former case an analytically based simulation using feedback linearization has been proposed, whereas in the case of the multi-cable model it was found to be most expedient to use this as a representation of the crane inside a fuzzy logic control simulation. For the single cable system the lifting gear of the crane is considered to be adequately represented in the model by a single cable, and the control simulations show that positional error minimization is considerably enhanced by high gain active forces applied to the controllable coordinates of the system. The fuzzy logic approach utilizes passive dissipation terms only, but demonstrates robust control using multi-cable dynamics to represent the crane in the simulation
|Glasgow Author(s) Enlighten ID:||Cartmell, Prof Matthew|
|Authors:||Cartmell, M.P., Morrish, L., Alberts, T.E., and Taylor, A.J.|
|College/School:||College of Science and Engineering > School of Engineering > Systems Power and Energy|
|Journal Name:||Machine Vibration|
|Journal Abbr.:||Mach. Vibrat.|