1、 PDF外文：http:/ 本科毕业设计 （本科毕业论文） 外文文献及译文 文献、资料题目： Vibration suppression of fixed-time jib crane maneuvers 文献、资料来源： 网络 文献、资料发表（出版）日期： 2010.11 院 （部）： 机电工程学院 专 业： 机械工程及自动化 班 &n
2、bsp; 级： 机械 0808 姓 名： 秦梅 学 号： 2008072135 指导教师： 周海涛 翻译日期： 2012.3.26 山东建筑大学毕业设计（或毕业论文，二选一）外文文献及译文 - 1 - 外文文献： Vibration suppression of fixed-time jib crane maneuvers ABSTRACT A jib crane consists of a pendulum-like end l
3、ine attached to a rotatable jib. Within this general category of cranes there exist devices with multiple degrees of freedom including variable load-line length and variable jib length. These cranes are commonly used for construction and transportation applications. Point-to-point payload maneuvers
4、using jib cranes are performed so as not to excite the spherical pendulum modes of their cable and payload assemblies. Typically, these pendulum modes, although time-varying, exhibit low frequencies. The resulting maneuvers are therefore performed slowly, contributing to high construction and transp
5、ortation costs. The crane considered here consists of a spherical pendulum attached to a rigid jib.The other end of the jib is attached to a direct drive motor for generating rotational motion. A general approach is presented for determining the open-loop trajectories for the jib rotation for accomp
6、lishing fixed-time, point-to-point, residual oscillation free,symmetric maneuvers. These residual oscillation free trajectories purposely excite the pendulum modes in such a way that at the end of the maneuver the oscillatory degrees of freedom are quiescent. Simulation results are presented with ex
7、perimental verification. Keywords: Rotary Crane, Control, Swing-Free, Oscillation-Free, Input Shaping 1 INTRODUCTION. Construction and transportation cranes can generally be grouped into one of two categories b
8、ased on their configuration. The first category consists of overhead, gantry cranes. These systems incorporate a trolley which translates in the horizontal plane. Attached to the trolley is a load-line for payload attachment. Typically, they have varying load-line length capabilities. The second cat
9、egory consists of rotary cranes. As the name implies, the load-line attachment point undergoes rotation. Other degrees of freedom may exist such as translation of the load-line attachment point along the jib, variable load-line length, or if the jib is replaced by a boom, the characteristic bo
10、om rotational motion, known as luffing* &
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12、 Auernig and Troger consider time optimal payload maneuvers of a gantry crane undergoing 山东建筑大学毕业设计（或毕业论文，二选一）外文文献及译文 - 2 - trolley translation and load-line length change. The couple
13、d, nonlinear equations of motion and adjoint equations, obtained from the application of Pontryagin's maximum principle, are solved analytically for the cases of constant and variable hoisting speeds. In both cases the maneuvers are developed such that the payload is residual oscillation free. M
14、oustafa and Ebeid demonstrate a state feedback controller for damping load sway for a gantry crane configured to move along two orthogonal directions in the horizontal plane. This work is expanded on by Ebeid et. al. to incorporate actuator dynamics into the crane model. Fliess et. al. investigate a
15、 feedback linearizing controller for a one-dimensional gantry crane. Trolley traversal and load-line length changes are considered. Simulation results indicate the ability of the closed-loop controller to control load sway for relatively slow maneuvers. This same system is examined by Nguyen where s
16、imulation and experimental results of a nonlinear st2te-feedback controller is used. Small motions are assumed about a specified operating point. This allows for decoupled equations of motion and decoupled controller design. Sakawa and Nakazumi investigate a rotary crane undergoing hub and boom rota
17、tion and load hoisting using a combined open and closed-loop approach. The open-loop input to the crane is designed based on a postulated set of functions such that the sway motion of the load is excited minimally. The closed-loop controller is then switched on when the maneuver is near the end, pro
18、viding significant sway damping. Vaha et. al. generate suboptimal, minimum time inputs for a rotary crane. Tracking is achieved via a state feedback control law. However, radial sway, due to centripetal acceleration of the payload, is not compensated. Souissi and Koivo consider a rotary crane underg
19、oing a boom-rotation-boom maneuver using a proportional-integral-derivative controller similar to Fliess et。 al. 4. The simulation model considers both radial and tangential payload sway, however, the control strategy used results in residual load oscillation. In this paper a procedure for generatin
20、g open-loop inputs for a rotary jib crane is introduced. The primary maneuver of interest is the residual oscillation, point-to-point movement of a payload. The input angular acceleration to the jib motor is postulated as having a pulse-coast-pulse form. A numerical optimization technique is used to generate the parameters which define this pulse sequence such that the maneuver is residual oscillation free . Of secondary interest are maneuvers where the payload oscillates in a specified manner at the end of
