Abstract
The anti-sway controllers are widely discussed due to the increasing requirements of crane automation in seaports. In this paper, the dynamic model of the trolley-payload pendulum system is put forward considering the flexibility and damping of the hoist rope as well as the wind load as the external excitation. As indicated from the simulation, the wind load increases both the static and fluctuating part of the response of sway angle; the flexibility of the hoist rope cannot be ignored especially near the destination of the final position of the payload. As inferred from the results, the sway angle is the main source of the position error of the payload in both horizontal and vertical direction.
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Zhang, J., Abba, G. (2018). Influence of the Wind Load in the Trolley-Payload System with a Flexible Hoist Rope. In: Lenarčič, J., Merlet, JP. (eds) Advances in Robot Kinematics 2016. Springer Proceedings in Advanced Robotics, vol 4. Springer, Cham. https://doi.org/10.1007/978-3-319-56802-7_40
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DOI: https://doi.org/10.1007/978-3-319-56802-7_40
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