지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2011.10
- 수록면
- 904 - 909 (6page)
이용수
초록· 키워드
오류제보하기
Based on partial feedback linearization technique, a nonlinear controller is proposed for an overhead crane system. The overhead crane is an underactuated mechanical system having three degrees of freedom (trolley displacement, cable length and cargo swing angle) with only two actuators (one is for cargo hoisting and the other is for trolley driving). The main purpose of the proposed controller is tracking the trolley to the desired position, hoisting the cargo up/down to have desired length of cable, and eliminating the cargo swing as fast as possible. To show the effectiveness of the proposed controller, simulation is performed using MATLAB. The simulation results show that the crane system with the proposed controller is asymptotically stable. Furthermore, all state trajectories of the system reach to steady state within a considerably short time even if the inherent structure of system is changed.
목차
Abstract
1. INTRODUCTION
2. SYSTEM DYNAMICS
3. FEEDBACK LINEARIZATION CONTROL DESIGN
4. SIMULATION AND RESUILT ANALYSIS
5. CONCLUSIONS
ACKNOWLEDGEMENT
REFERENCES
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UCI(KEPA) : I410-ECN-0101-2014-569-000913807