Furthermore, to solve the problem of redundant actuation and to reduce trajectory deviation of the bridge truck, the contact forces of the horizontal guide device are introduced into the quadratic programming (QP) optimization algorithm. A single movable pulley suspended by passing an inextensible string of. (ii) There is a force of friction between pulley wheel and the string. Answer: A single movable pulley has an efficiency of less than 100 because (i) The weight of movable pulley and its frame is not zero. To improve the robustness and convergence speed of the control system, the nonsingular terminal sliding mode (NTSM) control method is incorporated with ADRC and the stability of the controller is proven by the Lyapunov function approach. A pulley, whose axis of rotation is not fixed in position, is called a movable pulley. Question: Give two reasons why the efficiency of a single movable pulley system is not 100. The most popular system that uses this pulley would be a well. Wooden pulleys, steel pulleys and engineering plastic pulleys can be made of various materials according to actual requirements. Then, an expansion state observer (ESO) of the active disturbance rejection control (ADRC) method is applied to estimate and compensate the cross-coupling disturbance in real-time. The movable pulley is used to reduce the amount of input force to lift a load. Fixed pulley, movable pulley, pulley block (or divided into single pulley, double pulley, three pulley, four pulley and even multiple pulleys). Answered by Thiyagarajan K 14th Sep, 2018. One end of the rope is attached to a fixed point that does not move. In this case, the object and pulleys can move from place to plate. Thousands of new, high-quality pictures added every day. There are 5 moveable pulleys and one fixed pulley in the given moveable pulley system. The place of the pulley is fixed, the wheel can rotate in axis only, the rope moved in the groove of the pulley. Firstly, a nonholonomic constraint dynamic model of the polar crane is established according to the Lagrange–Rouse equation. Find movable pulley stock images in HD and millions of other royalty-free stock photos, illustrations and vectors in the Shutterstock collection. To address the precise locating control problem of a polar crane with the center of gravity shifting, with cross-coupling, and with external disturbance, an effective control scheme is proposed in this paper. This is also known as the block and tackle pulley system which utilizes the mechanical advantage of lifting a weight with only half the force to lift it. A rope or a string runs along these raised edges without coming off.
A polar crane is a large-scale special lifting equipment operated in a nuclear power plant. A pulley is a simple machine made up of a wheel with two raised edges.
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