Robust control of gantry crane system with hoisting: A new solution based on wave motion
文献类型：期刊论文
| 作者 | Yang TW(杨唐文); Qin Y(秦勇); Han JD(韩建达)
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| 刊名 | 中南大学学报(自然科学版)
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| 出版日期 | 2011 |
| 卷号 | 42期号:S1页码:288-292 |
| 关键词 | gantry crane systems robust control hoisting mechanical wave concepts |
| ISSN号 | 1672-7207 |
| 产权排序 | 3 |
| 通讯作者 | 杨唐文 |
| 中文摘要 | Large load swing of a gantry crane, due to cable flexibility and rapid movement, needs to be controlled. Herein, a wave-based approach interprets the cable motion as two superposed traveling waves. To combine position and active swing control, the trolley motion and load hoisting are carefully designed here, and a practical approach is adopted to design hoisting motions in the upward and downward manoeuvres, counteracting their reverse effects on the load swing. A robust control algorithm, based on the model of the crane system, is proposed to realize the trolley and hoisting motions, allowing for load variations and parameter uncertainties. This new solution to motion control of a gantry crane works very well, and is stable and adaptive to large load variations. As demonstrated in the simulation experiments, it lands the load rapidly and exactly at target and stops it dead, with nearly zero swing. |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.sia.cn/handle/173321/19919]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Yang TW,Qin Y,Han JD. Robust control of gantry crane system with hoisting: A new solution based on wave motion[J]. 中南大学学报(自然科学版),2011,42(S1):288-292. |
| APA | Yang TW,Qin Y,&Han JD.(2011).Robust control of gantry crane system with hoisting: A new solution based on wave motion.中南大学学报(自然科学版),42(S1),288-292. |
| MLA | Yang TW,et al."Robust control of gantry crane system with hoisting: A new solution based on wave motion".中南大学学报(自然科学版) 42.S1(2011):288-292. |
入库方式： OAI收割
来源：沈阳自动化研究所
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