[Zurück]

M. Tiefenbacher, S. Jakubek, M. Kozek:
"Modeling and Identification of a Chain Pendulum";
Vortrag: International Symposium on Models and Modeling Methodologies in Science and Engineering: MMMse 2011, Orlando, Florida, USA; 27.03.2011 - 30.03.2011; in: "Proceedings of the MMMSE2011", (2011), ISBN: 9781936338221; Paper-Nr. MB764KW, 6 S.

In this paper the dynamics of a chain pendulum suspended
by a gantry crane are studied. The chain is modeled as a
continuous homogeneous frictionless cable, which is pivoted
on a cart, and a drive is considered. The system is
modeled by the Ritz approximation method. Therefore,
the linear partial differential equation for a fixed cart is
derived and the eigenmodes are used as basis functions.
The equations of motion are obtained by Lagrange formalism
considering actuator dynamics with Coulomb and
viscous friction components. Furthermore, a state space
representation is presented. For realistic modeling, the inner
damping is considered by modal damping. A gray-box
approach using the prediction error method is presented
to identify the damping coefficients of the drive, cart and
chain. The model is parameterized according to a specific
laboratory experiment and the gray-box approach is presented
for measured data. Furthermore, black-box models
are identified. Analysis and comparison of the results indicate
that the dynamic of the chain pendulum is modeled
with sufficient accuracy. In addition, the gray-box model
shows comparable results to black-box models in terms of
prediction error.

Modeling, Partial Differential Equation, Ritz-Method, Grey-Box Identification, Black-Box Identification, Nonlinear System