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

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 dyn...

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Bibliographic Details
Published inEntropy (Basel, Switzerland) Vol. 22; no. 3; p. 350
Main Authors Lizuain, Ion, Tobalina, Ander, Rodriguez-Prieto, Alvaro, Muga, Juan Gonzalo
Format Journal Article
LanguageEnglish
Published Basel MDPI AG 18.03.2020
MDPI
Subjects
Coordinate transformations
Cranes
Cranes & hoists
Feedback
Initial conditions
invariant-based engineering
Mechanical engineering
mechatronics
Pendulums
Physics
Resonant frequencies
shortcuts to adiabaticity
Transport
Trolley cranes
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Summary: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.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
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ISSN:1099-4300
1099-4300
DOI:10.3390/e22030350