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標題: 3D起重機系統之滑動模式運動控制
Sliding-Mode Motion Control of a 3D Crane System
作者: 莊坤賢
Chuang, Kun-Hsien
關鍵字: Crane;起重機;anti-swing;防搖擺
出版社: 電機工程學系所
引用: 參考文獻 [1] 任正隆,吊車系統利用視覺回授之滑動模式控制,國立中央大學電機工程學系碩士論文,2006年。 [2] 王智輝,應用影像處理技術於起重機搖晃抑制之研究,國立勤益科技大學電子工程學系碩士論文,2009年。 [3] Y. Fang, W. E. Dixon, D.M. Dawson and E. Zergeroglu, “Nonlinear coupling control laws for an underactuated overhead crane system,” IEEE/ASME Transactions on Mechatronics, vol.8, no. 3, pp. 418-423, 2003. [4] M. Mahfouf, C H. Kee, M. F. Abbod, D. A. Linkens, "Fuzzy logic based anti-sway control design for overhead cranes," Neural Computation Applications, vol. 9 , pp .38–43 , 2000. [5] C.Y. Chang, "Adaptive fuzzy controller of the overhead cranes with nonlinear disturbance," IEEE Transactions Industry Applications, vol. 3, pp.164–172, 2007. [6] H. H. Lee, “Modeling and control of three-dimensional overhead crane,” ASME Transactions, Journal of Dynamic Systems, Measurement, and Control, vol. 120, no. 4 , pp. 471–476, 1998. [7] T. Matsuo, R. Yoshino, H. Suemitsu, and K. Nakano, “Nominal performance recovery by PID+Q controller and its application to antisway control of crane lifter with visual feedback,” IEEE Transactions on Control Systems Technology, vol. 12, no. 1,pp.156-166, 2004. [8] T. Matsuo and K. Nakano, “Robust stabilization of closed-loop systems by PID+Q controller,” International Journal of Control, vol. 70, no. 4, pp. 631-650, 1998. [9] Y. Fang, W. E. Dixon, D.M. Dawson and E. Zergeroglu, “Nonlinear coupling control laws for an underactuated overhead crane system,” IEEE/ASME Transactions on Mechatronics, vol.8, no. 3, pp. 418-423, 2003. [10] M. A. Karkoub, M.Zribi, "Modeling and energy based nonlinear control of crane lifters, " IEE Proceedings Control Theory Applications, vol. 149, pp.209–215, 2002. [11] M. J. Agostini, G. G. Parker, H. Schaub, K. Groom, R. D. Robinett, "Generating swing-suppressed maneuvers for crane systems with rate saturation," IEEE Transactions on Control Systems Technology, vol. 11, pp.471–481, 2003. [12] 張嘉勝,球型倒單擺控制系統之設計與實作,國立中興大學電機工程學系碩士論文,2010年。 [13] C. M. Lin, Y. J. Mon,“ Decoupling Control by Hierarchical Fuzzy Sliding-Mode Controller, ”IEEE Transactions on Control Systems Technology, vol. 13, no. 4,pp. 593-598, July 2005. [14] W. Wang, X. D. Liu, J. Q. Yi. “Structure design of two types of sliding-mode controllers for a class of under-actuated mechanical systems,” IET Control Theory and Applications, vol. 1, no 1, pp. 163-172, 2007.

This thesis develops a sliding-model motion control method for point stabilization and trajectory tracking of a 3D crane system. A completely mathematical model of the system is derived using Lagrangian mechanics, and the model is then reduced according to six special cases: three single-axis motions and three double axial motions. With the complete and reduced models, an aggregated hierarchical sliding mode control approach together with backstepping technique is employed to synthesize six motion controllers for the 3D crane system, in order to accomplish out precise motion control and maintain the anti-swing angle as small as possible. The feasibility and effectiveness of the proposed controllers are well exemplified by conducting simulations on a 3D crane system with actual parameters. Simulations results via Matlab / Simulink indicate that the proposed controllers have been shown capable of achieving fast and precise motion control performance and satisfactory anti-swing angle responses in presence of possible load changes.
其他識別: U0005-2208201100135200
Appears in Collections:電機工程學系所

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