Sliding-Mode Motion Control of a 3D Crane System
碩士 === 國立中興大學 === 電機工程學系所 === 99 === Abstract 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...
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ndltd-TW-099NCHU54410982017-10-29T04:34:10Z http://ndltd.ncl.edu.tw/handle/69243522188199691608 Sliding-Mode Motion Control of a 3D Crane System 3D起重機系統之滑動模式運動控制 Kun-Hsien Chuang 莊坤賢 碩士 國立中興大學 電機工程學系所 99 Abstract 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. Ching-Chih Tsai 蔡清池 2011 學位論文 ; thesis 97 zh-TW |
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碩士 === 國立中興大學 === 電機工程學系所 === 99 === Abstract
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.
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Ching-Chih Tsai |
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Ching-Chih Tsai Kun-Hsien Chuang 莊坤賢 |
author |
Kun-Hsien Chuang 莊坤賢 |
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Kun-Hsien Chuang 莊坤賢 Sliding-Mode Motion Control of a 3D Crane System |
author_sort |
Kun-Hsien Chuang |
title |
Sliding-Mode Motion Control of a 3D Crane System |
title_short |
Sliding-Mode Motion Control of a 3D Crane System |
title_full |
Sliding-Mode Motion Control of a 3D Crane System |
title_fullStr |
Sliding-Mode Motion Control of a 3D Crane System |
title_full_unstemmed |
Sliding-Mode Motion Control of a 3D Crane System |
title_sort |
sliding-mode motion control of a 3d crane system |
publishDate |
2011 |
url |
http://ndltd.ncl.edu.tw/handle/69243522188199691608 |
work_keys_str_mv |
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