Date of Award

Fall 1996

Document Type

Thesis

Degree Name

Master of Science (MS)

Department

Mechanical & Aerospace Engineering

Program/Concentration

Aerospace Engineering

Committee Director

Thomas E. Alberts

Committee Member

Brett Newman

Committee Member

Donald Kunz

Call Number for Print

Special Collections; LD4331.E535 E64

Abstract

The control of payload swing in industrial gantry cranes is a topic of widespread interest. In this thesis, the control of the swing of a payload idealized by a point mass assumption is investigated utilizing s, compact robotics matrix/vector representation of the dynamical model. In this form, this particular system can be viewed as sn underactuated manipulator with equal numbers of active and passive degrees of freedom. The full three dimensional model is developed and linearized by modelling the cable as a single thread of fiexible wire and the degree of dynamic coupling between the active and passive coordinates is quantified and illustrated. Local asymptotic stability (in the sense of Lyapunov) of the system with a dissipative controller is proven. However, it is found that the passive coordinates are not adequately controlled within the given specifications. The linearized form of the system is then utilized to design a linear controller for the system using two control methods: Pole Placement and Linear Quadratic Regulation and these provide some reasonable results for the given specifications. However, it is noted that the initial overshoot in the cable is higher than would be desired when the system is performing regulation with step inputs applied to the active coordinates. With this in mind, nonlinear control is then applied to the system in the form of Partial Feedback Linearization. This provides adequate control of the payload swing. Some notable conclusions are provided.

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DOI

10.25777/hjd8-3s83

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