Dynamic analysis and tracking trajectory control of a crane

作者：Huang Kang; Sun Shunqiang; Zhen Shengchao; Ge Xinfang^*; Zhu Yongqi

来源：Proceedings of the Institution of Mechanical Engineers, Part E: Journal of Process Mechanical Engineering , 2017, 231(5): 1045-1052.

DOI：10.1177/0954408916671971

• Udwadia-Kalaba equation
• driving conditions
• crane
• tracking control
• dynamics model

This paper introduces a method to solve the crane motion trajectory control problem. A dynamic model is proposed based on the Udwadia-Kalaba equation, which can be solved without extra parameters, such as the Lagrange multiplier. The motion trajectory of a crane is used as a constraint (referred to as trajectory tracking constraint). To satisfy the system trajectory, a method to calculate the driving conditions on the basis of the above conditions is proposed. A 2D plane dynamic model of a crane is established. Five stages of crane movement are obtained. Simulation is performed with Matlab. Simulation results simulation show that the Udwadia-Kalaba equation can be well applied to trajectory tracking control of cranes.

• 出版日期2017-10
• 单位合肥工业大学