| Summary: | 碩士 === 長庚大學 === 機械工程研究所 === 93 === Anti-swing control of the overhead crane is a difficult yet important task in many applications. The purpose of this thesis is to design a robust controller to guide an experimental overhead crane system to move between two static points within the least time while keeping the load from moving backward.
To achieve this task, a theoretically optimum trajectory is obtained as the reference, and mathematical model of the overhead crane system is derived, verified using the SimMechanics Toolbox, and viewed with the Virtual Reality Toolbox of the MathWorks, Inc. We have tried the pole placement method, the LQR control law, and the PID controller. But the performance of these schemes is worse then a manually tuned fuzzy controller. The Simulink model is then transformed into ANSI C language and load to a dSPACE DS1104 control board for practical experiments. The experimental results are consistent with those of the simulation predictions.
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