Time-Delay Algorithms for Damping Oscillations of Suspended Payload by Adjusting the Cable Length

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F17%3A00314984" target="_blank" >RIV/68407700:21220/17:00314984 - isvavai.cz</a>

Nalezeny alternativní kódy

RIV/68407700:21730/17:00314984

Výsledek na webu

<a href="http://dx.doi.org/10.1109/TMECH.2017.2736942" target="_blank" >http://dx.doi.org/10.1109/TMECH.2017.2736942</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/TMECH.2017.2736942" target="_blank" >10.1109/TMECH.2017.2736942</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Time-Delay Algorithms for Damping Oscillations of Suspended Payload by Adjusting the Cable Length

Popis výsledku v původním jazyce

This paper deals with damping oscillations of a payload suspended to a fixed position base (e.g., a standing crane trolley). The damping is done by utilizing the Coriolis force generated by synchronizing translational and rotational motion of the payload. After revising existing approaches mainly based on approximating the payload motion by the motion of a mathematical pendulum, several nonlinear time-delay algorithms are proposed to handle the given task efficiently. The key benefit of the proposed methods is the feedback character of the algorithms guaranteeing the required synchronization of the cable length adjustment with the payload swing motion under the varying oscillation period and even under the effect of external disturbances. Note that the preceding algorithms were of open-loop character where such a synchronization was not guaranteed. The theoretical design is validated by simulations. The implementation aspects are discussed by relaxing the simplifying assumptions. Finally, the proposed time-delay feedback method is experimentally verified on a laboratory setup. The achieved results demonstrate viability of the proposed method for payload oscillation damping, e.g., in crane applications.

Název v anglickém jazyce

Time-Delay Algorithms for Damping Oscillations of Suspended Payload by Adjusting the Cable Length

Popis výsledku anglicky

This paper deals with damping oscillations of a payload suspended to a fixed position base (e.g., a standing crane trolley). The damping is done by utilizing the Coriolis force generated by synchronizing translational and rotational motion of the payload. After revising existing approaches mainly based on approximating the payload motion by the motion of a mathematical pendulum, several nonlinear time-delay algorithms are proposed to handle the given task efficiently. The key benefit of the proposed methods is the feedback character of the algorithms guaranteeing the required synchronization of the cable length adjustment with the payload swing motion under the varying oscillation period and even under the effect of external disturbances. Note that the preceding algorithms were of open-loop character where such a synchronization was not guaranteed. The theoretical design is validated by simulations. The implementation aspects are discussed by relaxing the simplifying assumptions. Finally, the proposed time-delay feedback method is experimentally verified on a laboratory setup. The achieved results demonstrate viability of the proposed method for payload oscillation damping, e.g., in crane applications.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20302 - Applied mechanics

Projekt

<a href="/cs/project/GA16-17398S" target="_blank" >GA16-17398S: Kompenzátory s dopravním zpožděním pro flexibilní systémy</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2017

Kód důvěrnosti údajů

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

Název periodika

IEEE-ASME TRANSACTIONS ON MECHATRONICS

ISSN

1083-4435

e-ISSN

1941-014X

Svazek periodika

22

Číslo periodika v rámci svazku

5

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

11

Strana od-do

2319-2329

Kód UT WoS článku

000413042700038

EID výsledku v databázi Scopus

2-s2.0-85028926996