起重机(装置)
控制理论(社会学)
有效载荷(计算)
加速度
容器(类型理论)
残余物
计算机科学
相平面
传递函数
控制工程
垂直面
输入整形
工程类
模拟
算法
结构工程
控制(管理)
非线性系统
机械工程
振动控制
物理
人工智能
网络数据包
电气工程
振动
经典力学
量子力学
计算机网络
作者
Ziyad N. Masoud,Mohammed F. Daqaq
标识
DOI:10.1109/tcst.2006.883194
摘要
A traditional input-shaping technique is adapted to control transfer maneuvers on quay-side container cranes. The controller is developed using an accurate two-dimensional four-bar-mechanism model of a container crane and accounts for maneuvers that involve large hoisting operations. A graphical representation of the phase plane of the payload oscillations is used to derive mathematical constraints to compute the switching times of a double-step acceleration profile that results in minimal transient and residual oscillations. In contrast with single-step shaped acceleration profiles which are very sensitive to frequency approximations, the proposed double-step profile is less sensitive to small variations in the frequency even for large trolley accelerations.
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