TY - GEN
T1 - Residual load sway reduction control in double-pendulum overhead cranes using motion trajectory based on adams-Matlab joint simulation
AU - Hu, Jinxin
AU - Ouyang, Huimin
AU - Huang, Wenwei
AU - Xing, Ping
AU - Yu, Chunmin
AU - Zhang, Guangming
AU - Mei, Lei
AU - Deng, Xin
AU - Wang, Deming
N1 - Publisher Copyright:
© 2017 Institute of Control, Robotics and Systems - ICROS.
PY - 2017/12/13
Y1 - 2017/12/13
N2 - When the hook mass is greater than the load mass or the load has a distributed mass property, the load sway of the crane system can be considered as a double-pendulum. At this point, the crane system has two kinds of natural angular frequency which greatly increases the difficulty of the dynamic analysis and the controller design. To this end, the linear dynamics of a 2-D overhead crane with double-pendulum effect is derived based on a disturbance observer and is decoupled for controller design by modal analysis. Second, an S-shaped curve, which is widely used in the control fields, is applied to the linearized decoupling crane model. The trajectory parameters are obtained by solving the algebraic equation. Finally, the validity of the method is verified by simulation results.
AB - When the hook mass is greater than the load mass or the load has a distributed mass property, the load sway of the crane system can be considered as a double-pendulum. At this point, the crane system has two kinds of natural angular frequency which greatly increases the difficulty of the dynamic analysis and the controller design. To this end, the linear dynamics of a 2-D overhead crane with double-pendulum effect is derived based on a disturbance observer and is decoupled for controller design by modal analysis. Second, an S-shaped curve, which is widely used in the control fields, is applied to the linearized decoupling crane model. The trajectory parameters are obtained by solving the algebraic equation. Finally, the validity of the method is verified by simulation results.
KW - Double-pendulum effect
KW - Load sway reduction control
KW - Overhead crane
KW - S-shaped Curve motion trajectory
KW - Tracking control
UR - http://www.scopus.com/inward/record.url?scp=85044464328&partnerID=8YFLogxK
U2 - 10.23919/ICCAS.2017.8204310
DO - 10.23919/ICCAS.2017.8204310
M3 - 会议稿件
AN - SCOPUS:85044464328
T3 - International Conference on Control, Automation and Systems
SP - 650
EP - 654
BT - ICCAS 2017 - 2017 17th International Conference on Control, Automation and Systems - Proceedings
PB - IEEE Computer Society
T2 - 17th International Conference on Control, Automation and Systems, ICCAS 2017
Y2 - 18 October 2017 through 21 October 2017
ER -