Research into 2D Dynamics and Control of Small Oscillations of a Cross-Beam during Transportation by Two Overhead Cranes

Figure 7

JModelica.org- and Optimica-derived numerical plots for linear coordinates ; ; and (a); control forces  [N] and  [N] (b); angular coordinates and (c); angular coordinate (d); synchronized velocities , , and of points , , during guided system motion (e); and ; that is, , obtained for synchronous motion of the mechanical system with an open loop control.

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