D ynamical Modeling and Control of Motion System of the Gantry Crane to Minimize Swing Angle of the Payload


Equations in terms of state variables



Download 431,43 Kb.
bet9/14
Sana31.12.2021
Hajmi431,43 Kb.
#200953
1   ...   6   7   8   9   10   11   12   13   14
Bog'liq
Gantry Crane Paper

Equations in terms of state variables

From Equation (27)



(30)

(31)

Substituting from (27) in (28) yields





(32)

Substituting from (27) in (29) yields





(33)

Rearranging equations (30), (31), (32) and (33)





(34)

If we consider that the angle of the payload swing θ and the displacement of the cart X from a fixed reference, the output vector will be



(35)

It should be noted here that each of the two variables θ and X are measurable quantities, and thus the two equations (34) and (35) can be placed in a vector-matrix form

(36)

(37)

Equations (36), (37) can be put into a compact form

(38)






Download 431,43 Kb.

Do'stlaringiz bilan baham:
1   ...   6   7   8   9   10   11   12   13   14




Ma'lumotlar bazasi mualliflik huquqi bilan himoyalangan ©hozir.org 2024
ma'muriyatiga murojaat qiling

kiriting | ro'yxatdan o'tish
    Bosh sahifa
юртда тантана
Боғда битган
Бугун юртда
Эшитганлар жилманглар
Эшитмадим деманглар
битган бодомлар
Yangiariq tumani
qitish marakazi
Raqamli texnologiyalar
ilishida muhokamadan
tasdiqqa tavsiya
tavsiya etilgan
iqtisodiyot kafedrasi
steiermarkischen landesregierung
asarlaringizni yuboring
o'zingizning asarlaringizni
Iltimos faqat
faqat o'zingizning
steierm rkischen
landesregierung fachabteilung
rkischen landesregierung
hamshira loyihasi
loyihasi mavsum
faolyatining oqibatlari
asosiy adabiyotlar
fakulteti ahborot
ahborot havfsizligi
havfsizligi kafedrasi
fanidan bo’yicha
fakulteti iqtisodiyot
boshqaruv fakulteti
chiqarishda boshqaruv
ishlab chiqarishda
iqtisodiyot fakultet
multiservis tarmoqlari
fanidan asosiy
Uzbek fanidan
mavzulari potok
asosidagi multiservis
'aliyyil a'ziym
billahil 'aliyyil
illaa billahil
quvvata illaa
falah' deganida
Kompyuter savodxonligi
bo’yicha mustaqil
'alal falah'
Hayya 'alal
'alas soloh
Hayya 'alas
mavsum boyicha


yuklab olish