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Robust control of gantry crane system with hoisting: A new solution based on wave motion
Yang TW(杨唐文); Qin Y(秦勇); Han JD(韩建达)
作者部门机器人学研究室
关键词Gantry Crane Systems Robust Control Hoisting Mechanical Wave Concepts
发表期刊中南大学学报(自然科学版)
ISSN1672-7207
2011
卷号42期号:S1页码:288-292
收录类别EI
EI收录号20114814563712
产权排序3
资助机构Project(2011JBM019) supported by the Fundamental Research Funds for the Central Universities ; Project (RCS2010K002) supported by the State Key Laboratory of Rail Traffic Control and Safety ; Project(RL0200801) supported by State Key Laboratory of Robotics
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.
语种英语
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/19919
专题机器人学研究室
通讯作者Yang TW(杨唐文)
作者单位1.Institute of Information Science, Beijing Jiaotong University, Beijing 100044, China
2.State Key Laboratory of Rail Traffic Control and Safety, Beijing Jiaotong University, Beijing 100044, China
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang 110016, China
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.
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