SPC504 : Optimal Control,

Fall 2017 - 2018 Project #1 Deadline Saturday 18 / 11 / 2017

Consider the shown gantry crane system;

Obtain a model describing the dynamics of the system using both Lagrangian and Hamiltonian
approaches; In terms of the generalized coordinates q={X,,} := (trolly displacement from reference, in-
plane and out of plane sway angles respectively), trolly Mass M, payload mass m, cable length l, hoisting
distance s and gravitational acceleration g.

Model the load attached to cable as standard spherical pendulum,ie the cable is assumed in-extensible
[rigid] mass-less, rod of variable-length that is pinned to the trolley, the variable-length cable simulates
hoisting. and the trolly slides with no friction.

Simulate the motion of the system for the given force profiles (take m=1 Kg, M =2 Kg, g = 10 Kg m /s^2 ,lo=
1m, s=0) assume the system starts from rest [its preferable to use the equations obtained from the Hamilto-
nian formulation in this simulation]

Plot the response of the trolly position X, its speed, the in-plane and out of plane sway angles and ,
and their rates.
Plot the generalized momenta, Lagrangian and Hamiltonian functions and comment on the results of
integration
2 Crane Modelling Project 1st Draft.nb

F(t)
1.0
0.5

5 10 15
-0.5
-1.0

F(t)
1.0
Out[241]=
0.5

5 10 15
-0.5
-1.0

F(t)
1.0
0.5

5 10 15
-0.5
-1.0

For the the bang-bang force profile [the 2nd one] repeat the simulation four times varying pay-laod mass
and hoist distance. take m = {2Kg, 4Kg} at s=0 and s={-0.5 , +0.5 } when m = 1 kg.

Linearize the system about = = = = 0 , X=0,X=0.1m/s Simulate the motion of the Linearized Sys-
tem for the same given force profiles and compare the results to the nonlinear ones.