Design of a Laboratory Crane for Testing Control Approaches

  • Dieter Bestle
Part of the Solid Mechanics and its Applications book series (SMIA, volume 130)


The paper describes the development of a laboratory crane which is intended to serve as an experimental basis for testing different control approaches for under-actuated systems. The design steps consist of scaling a given simulation model, redesign according to the needs of electric drives, and parameter identification. A first control approach is based on ideas described in [1] where the control gains are found by optimization.

Key words

multibody dynamics under-actuated systems control optimization 


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  1. [1]
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    Bestle, D. (1994). Analyse und Optimierung von Mehrkörpersystemen, Springer, Berlin.Google Scholar
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    Blajer, W., Bestle, D. and Schichlen, W. (1994). An Orthogonal Complement Matrix Formulation for Constrained Multibody Systems. J. Mech. Design 116, 423–428.Google Scholar
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    Bestle, D. and Glora, M. (2003): Optimization of Passive and Active Dynamic Systems. In: W. Schiehlen and M. Valasek (eds.), Virtual Nonlinear Multibody Systems, Kluwer, 297–316.Google Scholar
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    Kreuzer, E. and Leister, G. (1992). Programmiersystem NEWEUL, Institute B of Mechanics, University of Stuttgart.Google Scholar

Copyright information

© Springer 2005

Authors and Affiliations

  • Dieter Bestle
    • 1
  1. 1.Dept. of Eng. Mech. and Vehicle DynamicsBrandenburg University of TechnologyGermany

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