Three-Dimensional Dynamic Modeling and Control of Off-Centered Bridge Crane Lifts

2017 ◽  
Vol 139 (4) ◽  
Author(s):  
Anthony Garcia ◽  
William Singhose ◽  
Aldo Ferri
Keyword(s):  
Dynamic Model ◽  
Dynamic Modeling ◽  
Three Dimensional ◽  
Horizontal Motion ◽  
Bridge Crane ◽  
Suspension Point ◽  
Modeling And Control ◽  
Surrounding Environment ◽  
And Control

When cranes lift payloads off the ground, the payload may slide sideways or swing unexpectedly. This motion occurs when the payload is not directly beneath the overhead suspension point of the hoist cable. Given that cable suspension points can be hundreds of feet above the payload, it is difficult for crane operators to know if the hoist cable is vertical before lifting the payload off the ground. If an off-center lift creates substantial horizontal motion, then it can create significant hazards for the operators, the payload, and the surrounding environment. This paper develops a three-dimensional dynamic model that predicts motions of off-centered lifts.

Three-Dimensional Modeling and Experimental Verification of Off-Centered Crane Lifts

2015 ◽  
Author(s):  
Anthony Garcia ◽  
William Singhose ◽  
Aldo Ferri
Keyword(s):  
Experimental Verification ◽  
Three Dimensional ◽  
Horizontal Motion ◽  
Bridge Crane ◽  
Suspension Point ◽  
Three Dimensional Modeling ◽  
Dimensional Modeling ◽  
Surrounding Environment ◽  
Human Operators ◽  
Lift Off

When cranes lift heavy payloads off the ground, the payload may slide or swing sideways unexpectedly. This dangerous motion occurs when the payload is not directly beneath the overhead suspension point of the hoist cable. Given that cable suspension points are usually tens of feet, and perhaps hundreds of feet above the payload, it is very difficult for crane operators to know if the hoist cable is perfectly vertical before they start to lift the payload off the ground. Inevitably, some horizontal motion of the payload will occur at lift off. If an off-center lift creates substantial horizontal motion, then it can create significant hazards for the human operators, the crane, the payload, and the surrounding environment. This paper develops a three-dimensional dynamic model of off-centered lifts. The accuracy of the model is experimentally investigated using a 10-ton bridge crane.

The Spherical Rolling-Flying Vehicle: Dynamic Modeling and Control System Design

2021 ◽  
pp. 1-23
Author(s):  
Stefan Atay ◽  
Matthew Bryant ◽  
Gregory D. Buckner
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
High Mobility ◽  
Theoretical Development ◽  
Trajectory Tracking Control ◽  
Modeling And Control ◽  
And Control

Abstract This paper presents the dynamic modeling and control of a bi-modal, multirotor vehicle that is capable of omnidirectional terrestrial rolling and multirotor flight. It focuses on the theoretical development of a terrestrial dynamic model and control systems, with experimental validation. The vehicle under consideration may roll along the ground to conserve power and extend endurance but may also fly to provide high mobility and maneuverability when necessary. The vehicle employs a three-axis gimbal system that decouples the rotor orientation from the vehicle's terrestrial rolling motion. A dynamic model of the vehicle's terrestrial motion is derived from first principles. The dynamic model becomes the basis for a nonlinear trajectory tracking control system suited to the architecture of the vehicle. The vehicle is over-actuated while rolling, and the additional degrees of actuation can be used to accomplish auxiliary objectives, such as power optimization and gimbal lock avoidance. Experiments with a hardware vehicle demonstrate the efficacy of the trajectory tracking control system.

Modeling and Control of a Three-Dimensional Overhead Crane

1998 ◽  
Vol 120 (4) ◽  
pp. 471-476 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
Dynamic Model ◽  
Three Dimensional ◽  
Practical Case ◽  
Overhead Crane ◽  
Modeling And Control ◽  
Control Scheme ◽  
Decoupled Control ◽  
Load Swing ◽  
And Control ◽  
Two Degree Of Freedom

In this paper, a new dynamic model of a three-dimensional overhead crane is derived based on a newly defined two-degree-of-freedom swing angle. The dynamic model describes the simultaneous traveling, traversing, and hoisting motions of the crane and the resulting load swing. For anti-swing control, this paper proposes a decoupled control scheme based on the dynamic model linearized around the stable equilibrium. The decoupled scheme guarantees not only rapid damping of load swing but also accurate control of crane position and load hoisting for the practical case of simultaneous traveling, traversing, and slow hoisting motions, which is also proven by experiments.

scholarly journals Development, Modeling and Control of a Dual Tilt-Wing UAV in Vertical Flight

Drones ◽  
2020 ◽  
Vol 4 (4) ◽  
pp. 71
Author(s):  
Luz M. Sanchez-Rivera ◽  
Rogelio Lozano ◽  
Alfredo Arias-Montano
Keyword(s):  
Dynamic Model ◽  
Attitude Control ◽  
Test Bench ◽  
Aerodynamic Coefficients ◽  
Nonlinear Dynamic Model ◽  
Modeling And Control ◽  
Drag And Lift ◽  
And Control ◽  
Dynamics Method ◽  
Indoor And Outdoor

Hybrid Unmanned Aerial Vehicles (H-UAVs) are currently a very interesting field of research in the modern scientific community due to their ability to perform Vertical Take-Off and Landing (VTOL) and Conventional Take-Off and Landing (CTOL). This paper focuses on the Dual Tilt-wing UAV, a vehicle capable of performing both flight modes (VTOL and CTOL). The UAV complete dynamic model is obtained using the Newton–Euler formulation, which includes aerodynamic effects, as the drag and lift forces of the wings, which are a function of airstream generated by the rotors, the cruise speed, tilt-wing angle and angle of attack. The airstream velocity generated by the rotors is studied in a test bench. The projected area on the UAV wing that is affected by the airstream generated by the rotors is specified and 3D aerodynamic analysis is performed for this region. In addition, aerodynamic coefficients of the UAV in VTOL mode are calculated by using Computational Fluid Dynamics method (CFD) and are embedded into the nonlinear dynamic model. To validate the complete dynamic model, PD controllers are adopted for altitude and attitude control of the vehicle in VTOL mode, the controllers are simulated and implemented in the vehicle for indoor and outdoor flight experiments.

Riccati Discrete Time Transfer Matrix Method for Dynamic Modeling and Simulation of an Underwater Towed System

2012 ◽  
Vol 79 (4) ◽  
Author(s):  
Guoping Wang ◽  
Bao Rong ◽  
Ling Tao ◽  
Xiaoting Rui
Keyword(s):  
Modeling And Simulation ◽  
Dynamic Modeling ◽  
Computational Efficiency ◽  
Finite Segment ◽  
Modeling And Control ◽  
Global Dynamic ◽  
Transfer Equations ◽  
High Matrix ◽  
Towed Cable ◽  
And Control

Efficient, precise dynamic modeling and control of complex underwater towed systems has become a research focus in the field of multibody dynamics. In this paper, based on finite segment model of cable, by defining the new state vectors and deducing the new transfer equations of underwater towed systems, a new highly efficient method for dynamic modeling and simulation of underwater towed systems is presented and the pay-out/reel-in process of towed cable is studied. The computational efficiency and numerical stability of the proposed method are discussed. When using the method to study the dynamics of underwater towed systems, it avoids the global dynamic equations of system, and simplifies solving procedure. Irrespective of the degree of freedom of underwater towed system, the matrices involved in the proposed method are always very small, which greatly improve the computational efficiency and avoids the computing difficulties caused by too high matrix orders for complex underwater towed systems. Formulations of the method as well as numerical simulations are given to validate the proposed method.

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