An overhead crane consists of a horizontally moving trolley of mass m_T dragging a load of mass m_L, which dangles from its bottom surface at the end of a rope of fixed length, L. The position of the trolley is controlled in the feedback configuration shown in Figure 10.20. Here, G(s) = KP(s); H = 1, and

The input is f_T (t), the input force applied to the trolley. The output is x_T (t), the trolley displacement. Also, ω₀ = √8/L and a = (m_L + m_T)/m_T (Marttinen, 1990) Make a qualitative Bode plot of the system assuming a > 1.

                                       

Transcribed Image Text:

X7(s) P(s) = 1 Fr(s) mr s2(s2 + aw)