期刊
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
卷 11, 期 4, 页码 718-727出版社
INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
DOI: 10.1007/s12555-012-9305-z
关键词
Internal dynamics; overhead cranes; partial feedback linearization; system stability
资金
- IT R&D program of MKE/KEIT [KI10040990]
- Implementation of Technologies for Identification, Behavior, and Location of Human based on Sensor Network Fusion Program through the MKE [10041629]
- Technology Innovation Program of MKE/KEIT [10040992]
- Korea Evaluation Institute of Industrial Technology (KEIT) [10040992, 10041629] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
Based on partial feedback linearization, an improved nonlinear controller is analyzed and designed for the three-dimensional motion of an overhead crane. Three control inputs composed of bridge moving, trolley travelling, and cargo hoisting forces are used to drive five state variables consisting of bridge motion, trolley movement, cargo hoisting displacement, and two cargo swing angles. The control scheme is constituted by linearly combining two components that are separately obtained from the nonlinear feedback of actuated and un-actuated states. To verify the quality of the control process, both numerical simulation and experimental study are carried out. The proposed controller asymptotically stabilizes all system states.
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