Simplified Model-Based Adaptive Control Design for 3-D Overhead Cranes

in International Symposium (oral presentation paper), 國際研討會(全文口頭發表)
標題Simplified Model-Based Adaptive Control Design for 3-D Overhead Cranes
AuthorsYang, 楊榮華
出版日期Nov 22 2008 12:0
會議地點Tainan, Taiwan

Conventionally, the overhead crane system is
always operated by human operator in a large scale factory.
In order to reduce the risk of operation as well as the cost of
personnel expense, a control system which can automatically
and safety transfer the payload to destination is inevitably
needed. Hence, in this paper, the stabilization and
positioning control for overhead crane systems will be
discussed and implemented. A nonlinear control scheme
which takes into account both the cart motion dynamics and
swing angle dynamics is designed to assure the whole
closed-loop system stability. To cope with parametric
uncertainty, adaptive laws are further included as a solution.
It is proved that the position will arrive at destination
accurately which the payload being subject tominimal swing.
Experimental results are also shown to demonstrate the
performance of the controller.

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