Modeling of an Underactuated Nonlinear Double-Container Overhead Crane

Wei Min Xu; Yun Lin Li; Jian Xin Chu; Xian Wen Zhou

doi:10.4028/www.scientific.net/AMR.479-481.680

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 479-481Modeling of an Underactuated Nonlinear...

Modeling of an Underactuated Nonlinear Double-Container Overhead Crane

Abstract:

Compared with a traditional single-container overhead crane, the double-container overhead crane is a type of new efficient container stevedoring machinery, however, it is actually a complicated nonlinear system. In this brief, both the kinematic and dynamic characteristics concerning the double-container crane are investigated, and then an accurate dynamic model of the underactuated double-container overhead crane is established by utilizing Euler-Lagrange's method. Not only is the variation of the rope and payloads, but also some uncertainties such as mechanical frictions and air-resistance in the environment are taken into account in modeling. Simulation results show the validity of the established double-container overhead crane model.

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Periodical:

Advanced Materials Research (Volumes 479-481)

Pages:

680-687

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.479-481.680

Citation:

Cite this paper

Online since:

February 2012

Authors:

Wei Min Xu, Yun Lin Li, Jian Xin Chu, Xian Wen Zhou

Keywords:

Double-Container, Dynamics Modeling, Nonlinear System, Numerical Simulation, Overhead Crane

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