摘要：AbstractAn important structural dynamics problem of the large gantry cranes are horizontal elastic oscillations mainly excited by the trolley motion. They reduce the crane operation performance and lead to faster material wear of the crane construction. In this article a distributed parameter model of large gantry cranes applying Hamilton’s principle is presented. In order to stabilize the system dynamics the use of a generalized error measure, called discrepancy, is proposed. Applying the associated stability theory, i.e. stability with respect to two discrepancies, a nonlinear stabilizing control for the underactuated gantry crane is derived. The proposed control strategy has been verified by simulations.
关键词：KeywordsDistributed parameter systemdiscrepancy based controlgantry cranepayload oscillationsposition controlstructural dynamics
