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
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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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
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UT code for WoS article
000587905100010
EID of the result in the Scopus database
2-s2.0-85090041434