3차원 오버헤드 크레인의 제어를 위한 다물체 역학 기반 운동 방정식
Multibody Dynamics-Based Equations of Motion for Control of a Three- Dimensional Overhead Crane
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초록
Since cranes are essentially used throughout industries such as shipyards, steel mills, and ports, there are many studies on crane control or modeling in various fields. In general, overhead cranes (gantry cranes) are modeled with a 3D pendulum, but in existing studies, the dynamics modeling of cranes is very complicated. In addition, there are limitations in the part where the wire length is adjusted, which complicates the equation or does not reflect the length adjustment. Therefore, a robust dynamics modeling is easier to model than existing methods. In this study, we modeled the equations of motion using the Discrete Euler-Lagrange equation. This method reflects the length adjustment of the wire as a constraint. We also proposed a method to numerically calculate the moving speed of the crane, given the moving speed of the crane. To verify the proposed method, we performed simulations based on three cases on a three-dimensional crane model and found that the calculations performed well.
Abstract
Since cranes are essentially used throughout industries such as shipyards, steel mills, and ports, there are many studies on crane control or modeling in various fields. In general, overhead cranes (gantry cranes) are modeled with a 3D pendulum, but in existing studies, the dynamics modeling of cranes is very complicated. In addition, there are limitations in the part where the wire length is adjusted, which complicates the equation or does not reflect the length adjustment. Therefore, a robust dynamics modeling is easier to model than existing methods. In this study, we modeled the equations of motion using the Discrete Euler-Lagrange equation. This method reflects the length adjustment of the wire as a constraint. We also proposed a method to numerically calculate the moving speed of the crane, given the moving speed of the crane. To verify the proposed method, we performed simulations based on three cases on a three-dimensional crane model and found that the calculations performed well.