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Dynamics And Control Of A Small Scale Mobile Boom Crane
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Book Synopsis Dynamics and Control of a Small-scale Mobile Boom Crane by : Ehsan A. Maleki
Download or read book Dynamics and Control of a Small-scale Mobile Boom Crane written by Ehsan A. Maleki and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Boom cranes are one of the most dynamically complicated types of cranes because they possess rotational joints as opposed to the linear tracks of bridge and gantry cranes. In addition, if the boom crane is placed on a mobile base, additional complexity is added to the system. However, mobile boom cranes have huge potential benefits as they can be quickly transported from one location to another. Furthermore, if they utilize their mobile base during lifting operations, then they can have an extremely large workspace. All cranes share the same limiting weakness; the payload oscillates when the crane moves. A command-generation approach is taken to control the payload oscillation. Input shaping is one such command-generation technique that modifies the original reference command by convolving it with a series of impulses. The shaped command produced by the convolution can then move the crane without inducing payload oscillation. Input shaping can accommodate parameter uncertainties, nonlinearities, multiple modes of vibration, and has been shown to be compatible with human operators. This thesis focuses on three aspects of mobile boom cranes: 1) dynamic analysis, 2) input-shaping control, and 3) experimental testing. A majority of the thesis focuses on analyzing and describing the complicated dynamics of mobile boom cranes. Then, various input-shaping controllers are designed and tested, including two-mode shapers for double-pendulum dynamics. In order to experimentally verify the simulation results, a small-scale mobile boom crane has been constructed. The details of the mobile boom crane and its important features are presented and discussed. Details of the software used to control the crane are also presented. Then, several different experimental protocols are introduced and the results presented. In addition, a set of operator performance studies that analyze human operators maneuvering the mobile boom crane through an obstacle course is presented.
Book Synopsis Dynamics and Control of Industrial Cranes by : Keum-Shik Hong
Download or read book Dynamics and Control of Industrial Cranes written by Keum-Shik Hong and published by Springer. This book was released on 2019-01-30 with total page 177 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces and develops the mathematical models used to describe crane dynamics, and explores established and emerging control methods employed for industrial cranes. It opens with a general introduction to the design and structure of various crane types including gantry cranes, rotary cranes, and mobile cranes currently being used for material handling processes. Mathematical models describing their dynamics for control purposes are developed via two different modeling approaches: lumped-mass and distributed parameter models. Control strategies applicable to real industrial problems are then discussed, including open-loop control, feedback control, boundary control, and hybrid control strategies. Finally, based on the methods covered in the book, future research directions are proposed for the advancement of crane technologies. This book can be used by graduate students, engineers, and researchers in the material handling industry including those working in warehouses, manufacturing, construction sites, ship building, seaports, container terminals, nuclear power plants, and in offshore engineering.
Book Synopsis Proceedings of the 2022 USCToMM Symposium on Mechanical Systems and Robotics by : Pierre Larochelle
Download or read book Proceedings of the 2022 USCToMM Symposium on Mechanical Systems and Robotics written by Pierre Larochelle and published by Springer Nature. This book was released on 2022-03-31 with total page 300 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume gathers the latest fundamental research contributions, innovations, and applications in the field of design and analysis of complex robotic mechanical systems, machines, and mechanisms, as presented by leading international researchers at the 2nd USCToMM Symposium on Mechanical Systems and Robotics (USCToMM MSR), held in Rapid City, South Dakota, USA on May 19-21, 2022. It covers highly diverse topics, including soft, wearable and origami robotic systems; applications to walking, flying, climbing, underground, swimming and space systems; human rehabilitation and performance augmentation; design and analysis of mechanisms and machines; human-robot collaborative systems; service robotics; mechanical systems and robotics education; and the commercialization of mechanical systems and robotics. The contributions, which were selected by means of a rigorous international peer-review process, highlight numerous exciting and impactful research results that will inspire novel research directions and foster multidisciplinary research collaborations among researchers from around the globe.
Book Synopsis Control of Human-operated Machinery with Flexible Dynamics by : Ehsan A. Maleki
Download or read book Control of Human-operated Machinery with Flexible Dynamics written by Ehsan A. Maleki and published by . This book was released on 2013 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Heavy-lifting machines such as cranes are widely used at ports, construction sites, and manufacturing plants in a variety of material-transporting applications. However, cranes possess inherent flexible dynamics that make fast and precise operation challenging. Most cranes are driven by human operators, which adds another element of complexity. The goal of this thesis is to develop controllers that allow human operators to easily and efficiently control machines with flexible dynamics. To improve the ease of human operation of these machines, various control structures are developed and their effectiveness in aiding the operator are evaluated. Cranes are commonly used to swing wrecking balls that demolish unwanted structures. To aid the operator in such tasks, swing-amplifying controllers are designed and their performance are evaluated through simulations and experiments with real operators. To make maneuvering of these machines in material-transporting operations easier, input-shaping control is used to reduce oscillation induced by operator commands. In the presence of external disturbances, input shaping is combined with a low-authority feedback controller to eliminate unwanted oscillations, while maintaining the human operator as the primary controller of the machine. The performance and robustness of the proposed controllers are thoroughly examined via numerical simulations and a series of experiments and operator studies on a small-scale mobile boom crane and a two-ton dual-hoist bridge crane.
Book Synopsis Integrated Sensing Dynamics and Control of a Mobile Gantry Crane by : K.-C. Huang
Download or read book Integrated Sensing Dynamics and Control of a Mobile Gantry Crane written by K.-C. Huang and published by . This book was released on 1997 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Dynamics and Control of Mobile Cranes by : Joshua Eric Vaughan
Download or read book Dynamics and Control of Mobile Cranes written by Joshua Eric Vaughan and published by . This book was released on 2008 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The rapid movement of machines is a challenging control problem because it often results in high levels of vibration. As a result, flexible machines are typically moved relatively slowly to avoid such vibration. Therefore, motion-induced vibration limits the operational speed of the system. Input shaping is one method that eliminates motion-induced vibrations by intelligently designing the reference command such that system vibration is cancelled. It has been successfully implemented on a number of systems, including bridge and tower cranes. The implementation of input shaping on cranes provides a substantial increase in the operational efficiency. Unfortunately, most cranes, once erected, have limited or no base mobility. This limits their workspace. The addition of base mobility could help extend the operational effectiveness of cranes and may also expand crane functionality. Mobile cranes may also be better suited for use in harsh and/or distant environments. Teleoperation of oscillatory systems, such as cranes, then becomes another avenue for advancement of crane functionality.
Book Synopsis Integrated Sensing, Dynamics and Control of a Moble Gantry Crane by : Guanqun Huang
Download or read book Integrated Sensing, Dynamics and Control of a Moble Gantry Crane written by Guanqun Huang and published by . This book was released on 1997 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Model Predictive Vibration Control by : Gergely Takács
Download or read book Model Predictive Vibration Control written by Gergely Takács and published by Springer Science & Business Media. This book was released on 2012-03-05 with total page 535 pages. Available in PDF, EPUB and Kindle. Book excerpt: Real-time model predictive controller (MPC) implementation in active vibration control (AVC) is often rendered difficult by fast sampling speeds and extensive actuator-deformation asymmetry. If the control of lightly damped mechanical structures is assumed, the region of attraction containing the set of allowable initial conditions requires a large prediction horizon, making the already computationally demanding on-line process even more complex. Model Predictive Vibration Control provides insight into the predictive control of lightly damped vibrating structures by exploring computationally efficient algorithms which are capable of low frequency vibration control with guaranteed stability and constraint feasibility. In addition to a theoretical primer on active vibration damping and model predictive control, Model Predictive Vibration Control provides a guide through the necessary steps in understanding the founding ideas of predictive control applied in AVC such as: · the implementation of computationally efficient algorithms · control strategies in simulation and experiment and · typical hardware requirements for piezoceramics actuated smart structures. The use of a simple laboratory model and inclusion of over 170 illustrations provides readers with clear and methodical explanations, making Model Predictive Vibration Control the ideal support material for graduates, researchers and industrial practitioners with an interest in efficient predictive control to be utilized in active vibration attenuation.
Book Synopsis Scientific and Technical Aerospace Reports by :
Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1995 with total page 440 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Canadian Forest Industries written by and published by . This book was released on 1990 with total page 774 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Iterative Methods for Linear and Nonlinear Equations by : C. T. Kelley
Download or read book Iterative Methods for Linear and Nonlinear Equations written by C. T. Kelley and published by SIAM. This book was released on 1995-01-01 with total page 179 pages. Available in PDF, EPUB and Kindle. Book excerpt: Linear and nonlinear systems of equations are the basis for many, if not most, of the models of phenomena in science and engineering, and their efficient numerical solution is critical to progress in these areas. This is the first book to be published on nonlinear equations since the mid-1980s. Although it stresses recent developments in this area, such as Newton-Krylov methods, considerable material on linear equations has been incorporated. This book focuses on a small number of methods and treats them in depth. The author provides a complete analysis of the conjugate gradient and generalized minimum residual iterations as well as recent advances including Newton-Krylov methods, incorporation of inexactness and noise into the analysis, new proofs and implementations of Broyden's method, and globalization of inexact Newton methods. Examples, methods, and algorithmic choices are based on applications to infinite dimensional problems such as partial differential equations and integral equations. The analysis and proof techniques are constructed with the infinite dimensional setting in mind and the computational examples and exercises are based on the MATLAB environment.
Book Synopsis An Integrated In-space Construction Facility for the 21st Century by :
Download or read book An Integrated In-space Construction Facility for the 21st Century written by and published by . This book was released on 1988 with total page 34 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Technology for Large Space Systems by :
Download or read book Technology for Large Space Systems written by and published by . This book was released on 1989 with total page 684 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Cranes and Derricks by : Howard I. Shapiro
Download or read book Cranes and Derricks written by Howard I. Shapiro and published by McGraw-Hill Companies. This book was released on 1990 with total page 488 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Applied Mechanics Reviews written by and published by . This book was released on 1996 with total page 724 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Large Space Structures & Systems in the Space Station Era by :
Download or read book Large Space Structures & Systems in the Space Station Era written by and published by . This book was released on 1990 with total page 700 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Recent Trends in Wave Mechanics and Vibrations by : S. Chakraverty
Download or read book Recent Trends in Wave Mechanics and Vibrations written by S. Chakraverty and published by Springer Nature. This book was released on 2019-11-12 with total page 468 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book consists of select proceedings of the National Conference on Wave Mechanics and Vibrations (WMVC 2018). It covers recent developments and cutting-edge methods in wave mechanics and vibrations applied to a wide range of engineering problems. The book presents analytical and computational studies in structural mechanics, seismology and earthquake engineering, mechanical engineering, aeronautics, robotics and nuclear engineering among others. This book can be useful for students, researchers, and professionals interested in the wide-ranging applications of wave mechanics and vibrations.
