کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
715901 892211 2010 6 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Flatness Based Control of a 3-DOF Overhead Crane with Velocity Controlled Drives
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مکانیک محاسباتی
پیش نمایش صفحه اول مقاله
Flatness Based Control of a 3-DOF Overhead Crane with Velocity Controlled Drives
چکیده انگلیسی

As an example of a spatial manipulator with large work space a 3-DOF overhead crane is considered. A nonlinear model of the overhead crane, including drive dynamics, is derived. The drives of trolley and winch are controlled by velocity controllers. Therefore the dynamics of the drives can be approximated and thus included into the model description. The states of the system are parameterized by the position of the load and its derivatives, therefore a flatness based trajectory tracking controller is derived. The controller achieves good tracking behavior and oscillation damping. It is shown that the controller is independent of the load mass and includes changes of the rope length. The strategy is implemented on an exemplary 3-DOF overhead crane and measurement results are presented.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: IFAC Proceedings Volumes - Volume 43, Issue 18, 2010, Pages 363-368