کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
696115 890323 2014 8 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Nonlinear tracking control of underactuated cranes with load transferring and lowering: Theory and experimentation
ترجمه فارسی عنوان
کنترل ردیابی غیر خطی جرثقیل های تحت فشار با بارگذاری انتقال و کاهش: نظریه و آزمایش
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
چکیده انگلیسی

A bridge crane is a complicated nonlinear underactuated mechatronic system, for which high-speed positioning and anti-swing control is the kernel objective. Existing methods for varying cable length cranes require either linearizations or approximations, when performing analysis, and they usually assume small load swing; moreover, the ranges of the tracking errors cannot be guaranteed during the overall process. Motivated by these facts, we present a new tracking scheme for cranes with load horizontal transportation and lowering control, which achieves simultaneous load swing suppression and elimination. To the best of our knowledge, the proposed method yields the first feedback closed-loop control result not needing linearization or approximation operations to the original nonlinear crane dynamics with cable length variation, while relaxing the common assumption imposed on load swing associated with existing methods. It can also guarantee that the tracking errors are always within a priori set bounds and converge to zero rapidly. Lyapunov-like analysis is implemented to support the theoretical derivations. We carry out hardware experiments to illustrate the superior control performance of the new method.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Automatica - Volume 50, Issue 9, September 2014, Pages 2350–2357
نویسندگان
, ,