Time optimal control of overhead cranes with hoisting of the load

✍ Scribed by J.W. Auernig; H. Troger

• Publisher: Elsevier Science
• Year: 1987
• Tongue: English
• Weight: 721 KB
• Volume: 23
• Category: Article
• ISSN: 0005-1098
• DOI: 10.1016/0005-1098(87)90073-2

✦ Synopsis

The time optimal control of the system which is at rest at the start pomt and has to be at rest again at the target pomt ts determined by piecing together analytically found solutions of the canonical system obtained from Pontryagm's maximum prmctple Key Words--Minimum t~me control, overhead crane, load homtlng, maximum principle, control constraints, state constraints, materials handling, ship unloader Abstract--The minimum time transfer of a load, suspended from a trolley by ropes, from an initial point at rest to a terminal point where it is required to be at rest again, IS investigated by controlling both the traversing motion of the trolley and the hoisting motmn of the load Special care is given to the modelling of the mechamcal and electrical features of the system Mathematically, a boundary value problem w~th constraints both m the control and state variables is gwen Necessary and sufficient conditions for time optimal solutions are derived using an extensmn of the Pontryagm maximum principle The nonhnear control problem is solved analytically and a detailed dlscussmn of the solutions is given Numerical results are presented which apply to ship unloaders *