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Details van artikel 2 van 8 gevonden artikelen
| Titel: |
A new design approach for the anti-swing trajectory control of overhead cranes with high-speed hoisting |
| Auteur: |
Lee, Ho-Hoon |
| Verschenen in: |
International journal of control |
| Paginering: | Jaargang 77 (2004) nr. 10 pagina's 931-940 |
| Jaar: |
2004-07-10 |
| Inhoud: |
This paper proposes a new approach for the design of anti-swing control of overhead cranes. An anti-swing trajectory control scheme is designed based on the trolley and load-hoisting dynamics, and then extended to an adaptive scheme. The load-swing dynamics is controlled by employing a sliding surface that couples the load-swing dynamics with trolley motion. The number of degrees of freedom of the trolley and load-hoisting dynamics is the same as that of the control inputs; therefore, the control problem is reduced to finding a coupled sliding surface that stabilizes the crane control system, based on the load-swing dynamics. In this study, the Lyapunov stability theorem is used as a mathematical design tool. The proposed control guarantees asymptotic stability of the anti-swing trajectory control while keeping all internal signals bounded. The coupled sliding surface allows a direct control of the damping of load swing. In addition, the proposed control provides clear gain-tuning criteria for easy application. Finally, the proposed control realizes an anti-swing control along a typical anti-swing trajectory in practice, with high-speed load hoisting. The validity of the theoretical results is shown by computer simulation. |
| Uitgever: |
Taylor & Francis |
| Bronbestand: |
Elektronische Wetenschappelijke Tijdschriften |
Details van artikel 2 van 8 gevonden artikelen
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