期刊
IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 22, 期 5, 页码 1952-1962出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2017.2721553
关键词
Boundary control; crane system; longitudinal-transverse vibration; output constraints; variable length
类别
资金
- National Basic Research Program of China (973 Program) [2013CB733100]
- National Natural Science Foundation of China [61522302, 61761130080, 61520106009, 61533008]
- Newton Advanced Fellowship from The Royal Society, U.K. [NA160436]
- Beijing Natural Science Foundation [4172041]
- Fundamental Research Funds for the China Central Universities of University of Science and Technology of Beijing (USTB) [FRF-BD-16-005A, FRF-TP-15-005C1]
A variable length crane system under the external disturbances and constraints is studied in the two-dimensional space. The dynamical analysis of the cable system considers the variable length, variable tension, variable speed, and the coupled vibrations of the cable in longitudinal-transverse directions. Considering output constraint problems, boundary control algorithms with output signal barriers are designed and acted on the boundary of the cable to reduce the coupled vibrations of the flexible crane cable, and to ensure the stability of the system in theory. Effectiveness and performance of the proposed control schemes are depicted via several simulation examples.
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