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# T1 - to the trolley and b is the viscous friction...

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ME360 Winter 2011 Tutorial #1 1. Dynamic Systems Modeling Figure 1 shows a crane carrying a large pulley. Figure 2 shows a schematic of the crane. The cable and payload can be considered as a pendulum hanging from a trolley. Consider the cable to have no mass and the payload to be a point mass, m p . A force, u , from the trolley motor provides a translational force
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Unformatted text preview: to the trolley and b is the viscous friction coefficient for the trolley. The trolley has a mass of m t . Find the equations of motion for the crane. The rotation of the hanging load is assumed frictionless. Figure 1. Crane with a payload. Figure 2. Schematic of the crane with hanging load b...
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