Modeling and control of a CDPM-based Smart Crane

Abstract As part of the development of Large Capacity Airships, this paper presents the design and the mathematical model of an innovative smart crane CHAYA-SC, based on the principle of Cable Driven Parallel Manipulators as well as its stabilization. This crane is mounted on the airship hold and intended for handling at altitude. The highest level of precision is required. Thus, the model developed includes the oscillations as well as the transverse and longitudinal vibrations of the heavy cable supporting the load to be handled. The highly nonlinear partial differential equations (PDE) and the ordinary derivative equations (ODE) that govern the motion of the system are obtained via the Lagrange equations coupled with a modal synthesis. As a first validation of the modeling, a simple control vector is applied to stabilize the airship and its load under the effect of a squall. Numerical simulations are presented at the end of the paper to show the efficiency of the design.