PD Controller Design for 3-D Overhead Crane System with Adaptive Gravity Compensation

in National workshop (full text oral presentation), 國內研討會(全文口頭發表)
標題PD Controller Design for 3-D Overhead Crane System with Adaptive Gravity Compensation
出版類型國內研討會(全文口頭發表)
出版年度2008
AuthorsYang, 楊榮華
會議名稱第25屆機械工程研討會
出版日期Nov 21 2008 12:0
會議地點大葉大學
其他編號0000
中文摘要

Traditionally, the overhead crane system is
mostly operated by human. In order to reduce the cost of
personnel expense, a control system which can
automatically transfer the load for rapid, accurate, and
safe operation is needed. In this paper, the stabilization
and positioning control for overhead crane systems are
discussed and implemented. To cope with parametric
uncertainty, the nonlinear controller is developed with
adaptive gravity compensation. By applying the control
law, accurate positioning and relatively small swing
angle can be achieved. Besides, stability of the
closed-loop system is also theoretically proved. For
verification, experiments are also performed to
demonstrate the performance of the controller.

校址:912 屏東縣內埔鄉學府路1號 總機:886-8-7703202 傳真:886-8-7740165 系統開發統維護單位:國立屏東科技大學 電算中心 版權所有