Time optimal control of overhead cranes with hoisting of the load
type: Item
instance of: scholarly article
title: Time optimal control of overhead cranes with hoisting of the load
zbMATH Open document ID: 0617.93040
DOI: 10.1016/0005-1098(87)90073-2
author: J. W. Auernig
author: Hans Troger
published in: Automatica
publication date: 1987-01-01T00:00:00Z
review text: The minimum time transfer of a load, suspended from a trolley by ropes, from an initial pint at rest to a terminal point where it is required to be at rest again, is investigated by controlling both the traversing motion of the trolley and the hoisting motion of the load. Special care is given to the modelling of the mechanical electrical features of the system. Mathematically, a boundary value problem with constraints both in the control and state variables is given. Necessary and sufficient conditions for time optimal solutions are derived using an extension of the Pontryagin maximum principle. The nonlinear control problem is solved analytically and a detailed discussion of the solutions is given. Numerical results are presented which apply to ship unloaders.
Mathematics Subject Classification ID: 93C95
Mathematics Subject Classification ID: 49K15
Mathematics Subject Classification ID: 70Q05
Mathematics Subject Classification ID: 93C15
zbMATH DE Number: 4001981
zbMATH Keywords: overhead crane
zbMATH Keywords: load hoisting
zbMATH Keywords: constraints
zbMATH Keywords: time optimal solutions
zbMATH Keywords: Pontryagin maximum principle
zbMATH Keywords: ship unloaders
MaRDI profile type: Publication
full work available at URL: 0005-1098(87)90073-2
OpenAlex ID: W2080156142
cites work: Q3785143
cites work: Q3903596
cites work: Time-optimal control of an overhead crane model
cites work: Optimal control of container cranes
cites work: Sufficient Conditions in Optimal Control Theory
description: scientific article; zbMATH DE number 4001981