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.
Modeling of an Underactuated Nonlinear Double-Container Overhead Crane
Advanced Materials Research ; 479-481 ; 680-687
2012-02-27
8 pages
Article (Journal)
Electronic Resource
English
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