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    The document describes the dynamic equations of motion for a 3D crane system. There are five measured quantities related to the crane configuration and payload position. The crane dynamics are given by eight equations relating the accelerations of the cart, rail, payload and lift line length based on applied forces and friction. Twenty-eight equations are derived describing the full nonlinear dynamics of the crane controlled by three applied forces and varying lift line length. The crane motion can be treated as two independent subsystems for the x and y-axes.

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    Mass of The Cart

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    The document describes the dynamic equations of motion for a 3D crane system. There are five measured quantities related to the crane configuration and payload position. The crane dynamics are given by eight equations relating the accelerations of the cart, rail, payload and lift line length based on applied forces and friction. Twenty-eight equations are derived describing the full nonlinear dynamics of the crane controlled by three applied forces and varying lift line length. The crane motion can be treated as two independent subsystems for the x and y-axes.

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    Modeling

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    The document describes the dynamic equations of motion for a 3D crane system. There are five measured quantities related to the crane configuration and payload position. The crane dynamics are given by eight equations relating the accelerations of the cart, rail, payload and lift line length based on applied forces and friction. Twenty-eight equations are derived describing the full nonlinear dynamics of the crane controlled by three applied forces and varying lift line length. The crane motion can be treated as two independent subsystems for the x and y-axes.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    26 views3 pages

    Mass of The Cart

    Uploaded by

    tidjani86
    The document describes the dynamic equations of motion for a 3D crane system. There are five measured quantities related to the crane configuration and payload position. The crane dynamics are given by eight equations relating the accelerations of the cart, rail, payload and lift line length based on applied forces and friction. Twenty-eight equations are derived describing the full nonlinear dynamics of the crane controlled by three applied forces and varying lift line length. The crane motion can be treated as two independent subsystems for the x and y-axes.

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    The schematic diagram of the crane is given in Fig

    Fig: 3DCrane system


    There are five measured quantities:

    (not marked in fig) denotes the distance of the rail with the cart from the center
    of the construction frame;

    (not marked in fig) denotes the distance of the cart from the center of the tail;

    denotes the length of lift-line;

    denotes the angle between the axis and the lift-line;

    denotes the angle between the negative direction on the axis and the projection
    of the lift-line onto the plane.
    Denote also:
    - mass of the payload;
    - mass of the cart;
    - mass of the moving rail;
    - coordinates of the payload;
    - reaction force in the lift-line acting on the cart;
    - force driving the cart;
    - force driving the rail with cart;
    - force controlling the length of the lift-line;
    - friction forces.
    The position of the payload is described by the equalities:
    (1)
    (2)
    (3)

    The dynamic of the crane is given by the equations:

    (4)

    (5)

    (6)
    (
    )
    (7)

    (8)
    where
    and are components of the force :
    (9)
    (10)
    (11)
    it is assumed that the lift-line is always stretched, that is:
    (
    )
    (
    )
    (12)
    In the case where the payload is lifted and lowered with the use of the control force
    (4)-(12) should be replaced as follows
    (13)
    the following symbols are used is the sequel

    In order to derive the crane equations, formulas (9)-(11) and (13) are substitude into (4)-(8)
    which gives:

    (
    )
    (14)

    (
    )
    (15)
    (
    )

    (16)

    (
    )
    (17)

    (
    )
    (18)
    The equations (1)-(3) are differentiated twice with taking into account that the length of the
    lift-line ( ) varies in time due to the action of control force , the complete system of
    nonlinear state equations for the crane controlled by means three forces is obtained.
    )


    (
    )

    (
    )

    (
    )
    (
    )
    )


    (
    )

    (
    )
    We denote

    Finally, we obtain en equations describing the dynamics of the crane with varying pendulum
    length

    (19)

    (20)

    (21)

    (22)

    (23)
    (
    )

    (
    )
    (24)

    (25)

    (
    )(
    ) (26)

    (27)
    (
    )

    (28)
    The denominator in equation (26) includes
    When the crane operates in its real range
    then
    .
    The equation which describe the motion of the crane along the y axis, that is, the equations
    for
    are not connected with the equations for the variables
    ,
    describing the motion along the x axis. The crane can be thus treated as two independent
    subsystems.

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