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Algorithms for Cable-Suspended Payload Sway Damping by Vertical Motion of the Pivot Base

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F21%3A00345198" target="_blank" >RIV/68407700:21220/21:00345198 - isvavai.cz</a>

  • Alternative codes found

    RIV/68407700:21730/21:00345198

  • Result on the web

    <a href="https://doi.org/10.1016/j.ymssp.2020.107131" target="_blank" >https://doi.org/10.1016/j.ymssp.2020.107131</a>

  • DOI - Digital Object Identifier

    <a href="http://dx.doi.org/10.1016/j.ymssp.2020.107131" target="_blank" >10.1016/j.ymssp.2020.107131</a>

Alternative languages

  • Result language

    angličtina

  • Original language name

    Algorithms for Cable-Suspended Payload Sway Damping by Vertical Motion of the Pivot Base

  • Original language description

    The solution of a case study problem of suspended payload sway damping by moving a pivot base in vertical direction is presented. Unlike for the classical problem of anti-sway control for moving the base in the horizontal direction, implemented e.g. in cranes, a direct solution by using control feedback theory for linear systems is not possible. Once the model is linearized, it becomes uncontrollable. Thus, a derivation of a nonlinear controller is needed to solve the task. In this context, two solutions are proposed. The first solution is based on imposing harmonic motion of the base with double frequency of the payload natural frequency. Synchronization of the base and the payload deflection angle is done either by proportional time-delay controller or by proportional-derivative delay free controller. Secondly, the Lyapunov’s second method is directly applied to derive a nonlinear controller. For both cases, balancing the dissipated energy, rules for determining equivalent damping are explicitly derived. After discussing and solving the corresponding implementation aspects, both simulation and experimental validations are performed. The experimental validation is performed on a simplified problem, where only horizontal motion is possible. The simulation based validation is performed on a nonlinear two dimensional model of a quadcopter carrying a suspended payload.

  • Czech name

  • Czech description

Classification

  • Type

    J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database

  • CEP classification

  • OECD FORD branch

    20204 - Robotics and automatic control

Result continuities

  • Project

    <a href="/en/project/LTAUSA17103" target="_blank" >LTAUSA17103: Time-delay control laws for innovative transportation UAV systems</a><br>

  • Continuities

    P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Others

  • Publication year

    2021

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Data specific for result type

  • Name of the periodical

    Mechanical Systems and Signal Processing

  • ISSN

    0888-3270

  • e-ISSN

    1096-1216

  • Volume of the periodical

    149

  • Issue of the periodical within the volume

    February

  • Country of publishing house

    GB - UNITED KINGDOM

  • Number of pages

    15

  • Pages from-to

  • UT code for WoS article

    000587905100010

  • EID of the result in the Scopus database

    2-s2.0-85090041434