基于不变量的双摆桥式起重机快速稳健负载运输逆向工程

Invariant-Based Inverse Engineering for Fast and Robust Load Transport in a Double Pendulum Bridge Crane.

作者信息

Lizuain Ion, Tobalina Ander, Rodriguez-Prieto Alvaro, Muga Juan Gonzalo

机构信息

Department of Applied Mathematics, University of the Basque Country UPV/EHU, 48013 Bilbao, Spain.

Department of Physical Chemistry, University of the Basque Country UPV/EHU, 48940 Leioa, Spain.

出版信息

Entropy (Basel). 2020 Mar 18;22(3):350. doi: 10.3390/e22030350.

DOI:10.3390/e22030350

PMID:33286124

原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC7516821/

Abstract

We set a shortcut-to-adiabaticity strategy to design the trolley motion in a double-pendulum bridge crane. The trajectories found guarantee payload transport without residual excitation regardless of the initial conditions within the small oscillations regime. The results are compared with exact dynamics to set the working domain of the approach. The method is free from instabilities due to boundary effects or to resonances with the two natural frequencies.

摘要

我们设定了一种趋近绝热性策略，用于设计双摆桥式起重机中小车的运动。所找到的轨迹能够确保在小振荡范围内，无论初始条件如何，都能实现无残余激励的负载运输。将结果与精确动力学进行比较，以确定该方法的工作范围。该方法不存在因边界效应或与两个固有频率发生共振而导致的不稳定性。