A new anti-swing control of overhead cranes

被引：0

作者：

Lee, HH ^{[1
]}

Cho, SK ^{[1
]}

Cho, JS ^{[1
]}

机构：

[1] RIST Pohang, Proc Automat Res Team, Seoul 790600, South Korea

来源：

AUTOMATION IN THE STEEL INDUSTRY: CURRENT PRACTICE AND FUTURE DEVELOPMENTS | 1998年

关键词：

anti-swing control; overhead crane; servo systems; root locus method; loop shaping method;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a new method for the design of an anti-swing control system for overhead cranes. The velocity servo system of a crane is modeled based on experiments. The model of the velocity servo system is used for the design of the position servo system of the crane via the loop shaping method. The position servo system and the swing dynamics of the crane load are then used to design the anti-swing control system based on the root locus method. In the presence of low frequency disturbances, the new anti-swing control system guarantees both zero steady state errors for position. control and fast damping for load swing. Experimental results on a prototype crane show the effectiveness of the new anti-swing control system. Copyright (C) 1998 IFAC.

引用

页码：115 / 120

页数：6

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