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Mass of The Cart

The document describes the dynamic equations of motion for a 3D crane system. There are five measured quantities related to the crane configuration and payload position. The crane dynamics are given by eight equations relating the accelerations of the cart, rail, payload and lift line length based on applied forces and friction. Twenty-eight equations are derived describing the full nonlinear dynamics of the crane controlled by three applied forces and varying lift line length. The crane motion can be treated as two independent subsystems for the x and y-axes.

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48 views3 pages

Mass of The Cart

The document describes the dynamic equations of motion for a 3D crane system. There are five measured quantities related to the crane configuration and payload position. The crane dynamics are given by eight equations relating the accelerations of the cart, rail, payload and lift line length based on applied forces and friction. Twenty-eight equations are derived describing the full nonlinear dynamics of the crane controlled by three applied forces and varying lift line length. The crane motion can be treated as two independent subsystems for the x and y-axes.

Uploaded by

tidjani86
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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The schematic diagram of the crane is given in Fig

Fig: 3DCrane system


There are five measured quantities:

(not marked in fig) denotes the distance of the rail with the cart from the center
of the construction frame;

(not marked in fig) denotes the distance of the cart from the center of the tail;

denotes the length of lift-line;

denotes the angle between the axis and the lift-line;

denotes the angle between the negative direction on the axis and the projection
of the lift-line onto the plane.
Denote also:
- mass of the payload;
- mass of the cart;
- mass of the moving rail;
- coordinates of the payload;
- reaction force in the lift-line acting on the cart;
- force driving the cart;
- force driving the rail with cart;
- force controlling the length of the lift-line;
- friction forces.
The position of the payload is described by the equalities:
(1)
(2)
(3)

The dynamic of the crane is given by the equations:

(4)

(5)

(6)
(
)
(7)

(8)
where
and are components of the force :
(9)
(10)
(11)
it is assumed that the lift-line is always stretched, that is:
(
)
(
)
(12)
In the case where the payload is lifted and lowered with the use of the control force
(4)-(12) should be replaced as follows
(13)
the following symbols are used is the sequel

In order to derive the crane equations, formulas (9)-(11) and (13) are substitude into (4)-(8)
which gives:

(
)
(14)

(
)
(15)
(
)

(16)

(
)
(17)

(
)
(18)
The equations (1)-(3) are differentiated twice with taking into account that the length of the
lift-line ( ) varies in time due to the action of control force , the complete system of
nonlinear state equations for the crane controlled by means three forces is obtained.
)


(
)

(
)

(
)
(
)
)


(
)

(
)
We denote

Finally, we obtain en equations describing the dynamics of the crane with varying pendulum
length

(19)

(20)

(21)

(22)

(23)
(
)

(
)
(24)

(25)

(
)(
) (26)

(27)
(
)

(28)
The denominator in equation (26) includes
When the crane operates in its real range
then
.
The equation which describe the motion of the crane along the y axis, that is, the equations
for
are not connected with the equations for the variables
,
describing the motion along the x axis. The crane can be thus treated as two independent
subsystems.

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