scholarly journals Dynamic simulation of a high altitude gantry crane with cable hoisting. Part one. 2D model

Vestnik MGSU ◽  
2021 ◽  
pp. 615-622
Author(s):  
Mostafa Jafari ◽  
Evgeniy M. Kudryavtsev
Keyword(s):  
High Altitude ◽  
Rigid Bodies ◽  
Gantry Crane ◽  
Maximum Speed ◽  
Mass Model ◽  
Runge Kutta Method ◽  
Single Mass ◽  
Fast Motion ◽  
Calculated Velocity ◽  
Gantry Cranes

Introduction. Simulation of the 2D dynamic motion of a high altitude wide span gantry crane with a rope hoisting mechanism is addressed. Such large gantry cranes with a height of more than 50 meters, have been unstudied very well so far. A small swing angle of the payload, it's fast hoisting, and the fast motion of the trolley are critical for these cranes and, hence, they need to be analyzed in detail. Materials and methods. The generalized formulation of the two-dimensional crane dynamics is efficiently performed and simulated in Mathcad. This is a single mass model that has a non-elastic cable. The formulation is derived using the Lagrange method, and differential equations are correctly solved using the Runge-Kutta method in Mathcad. In this model the crane is fixed, and all the subsystems are considered as rigid bodies without any deflection in terms of the trolley and the payload. Results. The results are verified using MSC ADAMS (Academic) that indicates satisfactory convergence. The considerable influence of the payload oscillation on the trolley motion is visible in both Mathcad and ADAMS models. The implemented Mathcad code can be useful for students and researchers. Conclusions. The maximum speed of the trolley is 1.716 m/s to prevent the payload swinging angle from exceeding 0.5 deg. The calculated velocity of the trolley is reasonable for such a large crane if limitations like wind effects and resonance are ignored.

scholarly journals Fault Diagnosis of Brake Train Based on Multi-Sensor Data Fusion

Sensors ◽  
2021 ◽  
Vol 21 (13) ◽  
pp. 4370
Author(s):  
Yongze Jin ◽  
Guo Xie ◽  
Yankai Li ◽  
Xiaohui Zhang ◽  
Ning Han ◽  
...  
Keyword(s):  
Fault Diagnosis ◽  
Expectation Maximization ◽  
Monitoring Data ◽  
Sensor Data ◽  
Operating Environment ◽  
Mass Model ◽  
Multi Sensor Data Fusion ◽  
Diagnosis Method ◽  
Single Mass ◽  
Parameter Identifications

In this paper, a fault diagnosis method is proposed based on multi-sensor fusion information for a single fault and composite fault of train braking systems. Firstly, the single mass model of the train brake is established based on operating environment. Then, the pre-allocation and linear-weighted summation criterion are proposed to fuse the monitoring data. Finally, based on the improved expectation maximization, the braking modes and braking parameters are identified, and the braking faults are diagnosed in real time. The simulation results show that the braking parameters of systems can be effectively identified, and the braking faults can be diagnosed accurately based on the identification results. Even if the monitoring data are missing or abnormal, compared with the maximum fusion, the accuracies of parameter identifications and fault diagnoses can still meet the needs of the actual systems, and the effectiveness and robustness of the method can be verified.

Analysis of Models for Torsional Vibration of Shaft System With Planetary Gearing

1997 ◽  
Author(s):  
Jinghui Sun ◽  
Lee Liu ◽  
William N. Patten
Keyword(s):  
Torsional Vibration ◽  
Planetary Gear ◽  
Gear Train ◽  
Mathematical Treatment ◽  
Dynamic Parameters ◽  
Mass Model ◽  
Planar Model ◽  
Shaft System ◽  
Effective Dynamic ◽  
Single Mass

Abstract The kinematics of planetary gearing are complex; thus, making it difficult to build an effective dynamic model. In this paper, a single-mass model of a planetary gear and shaft system is developed to study the torsional vibration of the mechanism. Two new models of the system are proposed: (a) a fictitious co-planar model and (b) an equivalent shaft model. The results from the calculations and analyses using these models indicate that: 1) the single-mass model and the general rotary model are both limited, either mathematically or geometrically; 2) the fictitious co-planar model includes all of the geometric and dynamic parameters of the general rotary model, and it can be connected with the shaft system easily; and 3) using a mathematical treatment, the equivalent shaft model is demonstrated to be the most useful and most effective model for the calculation of torsional vibration of a shaft and planetary gear train.

Application of Semi-Active Oil Damper System to Base Isolation Systems

2002 ◽  
Author(s):  
Takashi Kawai ◽  
Yasuo Tsuyuki ◽  
Yutaka Inoue ◽  
Osamu Takahashi ◽  
Koji Oka
Keyword(s):  
Base Isolation ◽  
Shaking Table ◽  
The Other ◽  
Damping Coefficient ◽  
Damping Force ◽  
Mass Model ◽  
Maximum Acceleration ◽  
Rubber Bearing ◽  
Single Mass ◽  
Isolation Systems

This paper deals with one of the applications of the Semi-Active Oil Damper system, which applies base isolation systems reducing the maximum acceleration. The theory of the Semi-Active Oil Damper system is based on Karnopp Theory. The theory has been actually now in use for a Semi-active suspension system of the latest Shinkansen (New trunk lines) trains to improve passenger’s comfortable riding. Various experiments have been conducted using a single mass model whose weight is 15 ton on the shaking table. This model is supported by the rubber bearing. The natural frequency is 0.33Hz of this system. Two Semi-Active Oil Damper were installed in the model and excited the table for one horizontal direction. The maximum damping force of each Semi-Active Oil Damper used for the model is 4.21 kN. The damper can change the damping coefficient by utilizing two solenoid valves. Therefore, the dynamic characteristic of the damping force has two modes. One is a hard damping coefficient and the other is a soft one. It was confirmed that the maximum acceleration of the Semi-Active Oil Damper system can be reduced more than 20% in comparison with the passive Oil Damper system in our tests.

Dynamics of spreader motion in a gantry crane

1998 ◽  
Vol 212 (2) ◽  
pp. 85-105 ◽  
Author(s):  
M P Cartmell ◽  
L Morrish ◽  
A J Taylor
Keyword(s):  
Fuzzy Logic Control ◽  
Rigid Bodies ◽  
Gantry Crane ◽  
Lateral Motion ◽  
Dynamic Simulations ◽  
General Direction ◽  
Linear Ordinary Differential Equations ◽  
Logic Control ◽  
Non Linear ◽  
Performance Gains

This paper illustrates the steps necessary to model the dynamics of a model rubber-tyred gantry (RTG) crane as used in container-handling operations. Various modelling criteria are discussed with the emphasis placed on the importance of non-linear coupling between the chosen system coordinates. The machine is treated as three rigid bodies, these being the gantry itself, the trolley (which is constrained to lateral motion across the top beam) and the spreader. Tyre deformations and structural deflections are not considered in this work. The paper culminates in three non-linear ordinary differential equations, which are then solved numerically for a variety of different cases. An important feature of this work is that the dynamic simulations include complicated gantry motions, not currently designed for, such as combined translations and simultaneous rotations. Such motions are more commonly encountered in mobile robots. However, RTG design needs to move in this general direction in the future if significant and potential performance gains are actually to be realized in practise. The paper concludes with suggestions for implementation of the dynamic model within a fuzzy logic control system.

Gain Scheduling Feedback Control of Tower Cranes with Friction Compensation

2004 ◽  
Vol 10 (2) ◽  
pp. 269-289 ◽  
Author(s):  
Hanafy M Omar ◽  
Ali H Nayfeh
Keyword(s):  
Least Squares ◽  
Least Squares Method ◽  
Gain Scheduling ◽  
Gantry Crane ◽  
Friction Coefficients ◽  
Identification Technique ◽  
Rotational Motions ◽  
Point To Point ◽  
Gantry Cranes ◽  
Load Weight

We have designed a controller based on gain-scheduling feedback to move a load from point to point within one oscillation cycle and without inducing large swings. The settling time of the system is taken to be equal to the period of oscillation of the load. This criterion enables us to calculate the controller feedback gains for varying load weight and cable length. First, we designed the controller for gantry cranes and then extended it to tower cranes by considering the coupling between the translational and rotational motions. Numerical simulations show that the controller is effective for reducing load oscillations and transferring the load in a reasonable time compared with that of optimal control. To experimentally validate the theory, we had to compensate for friction. To this end, we estimated the friction, then applied an opposite control action to cancel it. To estimate the friction force, we assumed a mathematical model, then we estimated the model coefficients using an off-line identification technique, the least-squares method. First, the process of identification was applied to a theoretical model of a dc motor with known friction coefficients. From this example, some guidelines and rules were deduced for the choice of the least-squares parameters. Then, the friction coefficients of the gantry crane model were estimated and validated.

Input-Shaped Control of Gantry Cranes: Simulation and Curriculum Development

2001 ◽  
Author(s):  
Craig Forest ◽  
David Frakes ◽  
William Singhose
Keyword(s):  
Dynamic Response ◽  
System Dynamics ◽  
Engineering Education ◽  
Work Environment ◽  
Computer Simulations ◽  
Gantry Crane ◽  
Input Shaping ◽  
Educational Tool ◽  
Institute Of Technology ◽  
Gantry Cranes

Abstract Knowledge of vibrations and controls has increased significantly by utilizing emerging computer capabilities. Engineering education should embrace this technology through computer simulations that predict and display the dynamic response of interesting systems. For example, manipulating payloads with an overhead gantry crane can be challenging due to the oscillations induced by the crane motion. The problem gets increasingly difficult when the work environment is cluttered with obstacles. This paper describes a simple input shaping solution to the vibration problem and shows how this problem and concept were integrated into the curriculum of an undergraduate system dynamics and controls course at the Georgia Institute of Technology. Furthermore, an educational tool is used to gather data on how crane operators attempt to navigate around obstacles. The results show that input shaping reduces the likelihood of collisions between the payload and obstacles, while at the same time allowing operators to be more aggressive in selecting navigation paths.

scholarly journals Optimization of Gantry Cranes’ Operation Path for Transshipment Based on Improved TSP

2020 ◽  
Vol 2020 ◽  
pp. 1-13
Author(s):  
Qi Zhang ◽  
Hongjin Dong ◽  
Mingjun Ling ◽  
Leyi Duan ◽  
Yuguang Wei
Keyword(s):  
Optimization Model ◽  
Ant Colony Algorithm ◽  
Ant Colony ◽  
Gantry Crane ◽  
Railway Network ◽  
Basic Model ◽  
Loading And Unloading ◽  
Container Freight ◽  
Gantry Cranes

In order to improve the transshipment efficiency of transit containers in the port or the port-type railway network container freight station (PRNCS) with the condition that each transit container matches a railway flat-car, this paper studied the optimization of operation path of the rail mounted gantry crane (RMG) in the loading and unloading track for containers transshipped directly from highway to railway. Based on the basic model of TSP, the paper constructed the optimization model for the operation path of RMG, and designed the Ant Colony Algorithm (ACA) to solve it, and then obtained the operation scheme of RMG having the highest efficiency. Finally, the validity and correctness of the model and algorithm were verified by a case.

Science of Swimming and the Swimming of the Soft Shelled Turtle

2014 ◽  
Vol 1621 ◽  
pp. 221-227
Author(s):  
Shinichiro Ito
Keyword(s):  
Energy Consumption ◽  
Minimum Energy ◽  
Human Movement ◽  
Maximum Speed ◽  
Main Stream ◽  
Minimum Energy Consumption ◽  
Gold Medalist ◽  
Hydrodynamic Field ◽  
Fast Motion ◽  
Observation Results

ABSTRACTSwimming is dynamically a part of the hydrodynamic field and can be considered as a field of the optimal control motion. Animals move by instinct according to the situation which they are confronting with. Therefore, their instinctive motion is optimal most of the time. The movement of animals can be classified roughly into two kinds: the fast motion with the maximum speed and the motion with the minimum energy consumption. Considering the foreleg of the soft shelled turtle as a flat plane, several sets of movement of the foreleg were observed and calculated theoretically. The theoretical results agreed the observation results in the both cases with the maximum speed and the minimum energy consumption. Applying the theoretical movement of the soft shelled turtle foreleg to human movement in swimming, the general S-shaped pull stroke is the minimum energy consumption motion in free-style. It became clear that there was a different stroke for generating the maximum speed in free-style. That was the soft shelled turtle style of fast swimming, the I-shaped pull strokes. In 2002 when the author announced this theory, there was only one fast swimmer whose free-style swimming strokes coincidentally accorded with the I-shaped pull with fewer numbers of strokes at that time. He was the Olympic gold medalist Ian Thorp. Now the I-shaped stoke has become main stream in free style.

New Technology of Installing the Attached Self-Climbing Tower Steel Gantry Cranes

2014 ◽  
Vol 484-485 ◽  
pp. 245-253
Author(s):  
Ming Guang ◽  
Hong Sheng Li ◽  
Hua Guo Yang
Keyword(s):  
New Technology ◽  
Plate Thickness ◽  
Gantry Crane ◽  
Maximum Height ◽  
Construction Technology ◽  
Pipe Segment ◽  
New Construction ◽  
Girder Bridge ◽  
Gantry Cranes ◽  
Bridge Tower

The Liujiaxia Bridge is 536 m span steel truss stiffening Girder Bridge, tower with double-column steel concrete structure, which is the world's largest diameter, the largest steel plate thickness of concrete pylon. Sarasota manufactured using standard pipe segment, group fight scene segment piecewise hoisting tower segment perfusion within the micro-expansion concrete construction technology, tower maximum height of 61.5 meters. This paper describes a piecewise Sarasota steel installation, piecewise perfusion within the micro-expansion concrete tower new construction method - attached to a self-climbing tower bridge gantry crane mounted pylon construction technology of large steel components. Of the "entity attached to the pylon installation of equipment by section climb" design, composition and construction applications are described in detail.

Dynamic Research on Vibration-Impact Crushing System of a Unilateral Single-Mass

2013 ◽  
Vol 401-403 ◽  
pp. 125-128
Author(s):  
Su Huan Ni ◽  
Qing Guo Chen
Keyword(s):  
Energy Absorption ◽  
Time History ◽  
Rigid Bodies ◽  
Dynamics Model ◽  
Frequency Curve ◽  
Vibration Impact ◽  
Single Mass ◽  
Force Impact ◽  
Impact Crushing ◽  
Frequency Impulse

The vibrating roller crusher make relative vibration generated by two rigid bodies to bring high-frequency impulse. The force impact on grain layer (or granular) in chamber, which makes grain crush. Based on the newton's law, the vibration differential equations and dynamics model in vibration-impact crushing system of a unilateral single-mass are established. By dynamic analysis, amplitude frequency curve, hysteresis impact curve and energy absorption curve are all found. On the numerical values, principal resonance of system on forced oscillation is solved. Displacement, velocity and acceleration with the time history are induced. The results showed that the movement of a mass is not simple harmonic motion. From clearance and vibration frequency, influence laws on amplitude frequency, impact, energy absorption is also established.

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