期刊文献+
任意字段
题名或关键词
题名
关键词
文摘
作者
第一作者
机构
刊名
分类号
参考文献
作者简介
基金资助
栏目信息

三维桥式吊车建模与仿真平台设计 被引量：25

Modeling and Simulation Platform Design for 3D Overhead Crane
在线阅读 下载PDF
导出
摘要 利用拉格朗日方程对三维(3D)桥式吊车系统进行了动力学建模。在该模型中,不仅考虑了台车在两个水平方向上运动对负载摆动的作用,同时分析了吊绳长度变化对系统状态的影响,此外还考虑了环境中动、静摩擦力,空气阻力等对台车运动以及负载摆动的作用。根据建立的动力学模型,搭建了三维桥式吊车仿真平台。该平台将有助于对桥式吊车这类非线性欠驱动系统动态特性的研究,以及各种控制策略的检验与评测。最后通过实验结果验证了所建立的动力学模型以及仿真平台的正确性。 The dynamic model of a 319 overhead crane system was established by utilizing Lagrange＇s equation. In the model, not only the motion of the trolley in horizontal plane, but also the variation of the rope length was considered. Furthermore, the main nonlinear disturbances existing in the environment, such as the dynamic and static mechanical frictions, air resistance and so on, were included in the model. Based on the dynamic model, a simulation platform of a 3D overhead crane was constructed for further system analysis and controller design. Experiment results show the correctness of the dynamic model and the validity of the simulation platform.
作者 马博军 方勇纯 刘先恩 王鹏程
机构地区 南开大学信息学院机器人所 南开大学信息与技术科学学院
出处 《系统仿真学报》 CAS CSCD 北大核心 2009年第12期3798-3803,共6页 Journal of System Simulation
基金 国家自然科学基金(60875055) 天津市应用基础及前沿技术研究计划重点项目(08JCZDJC21800) 新世纪优秀人才支持计划(NCET-06-0210)
关键词 桥式吊车 欠驱动系统 动力学建模 仿真平台 overhead crane undemctuated system dynamics modeling simulation platform
分类号 TP391.9 [自动化与计算机技术—计算机应用技术]
  • 相关文献

参考文献16

  • 1S Garrido, M Abderrahim, A Gimenez, R Diez, C Balaguer. Anti-Swinging Input Shaping Control of an Automatic Construction Crane [J]. IEEE Transactions on Automation Science and Engineering (S 1545-5955), 2008, 5(3): 549-557.
  • 2C Chang, K Hsu, K Chiang, G Huang. An Enhanced Adaptive Sliding Mode Fuzzy Control for Positioning and Anti-Swing Control of the Overhead Crane System [C]// Proceedings of the 2006 IEEE International Conference on Systems, Man, and Cybernetics, Taipei, October, 2006. USA: IEEE, 2006: 992-997.
  • 3王伟,易建强,赵冬斌,柳晓菁.一类非确定欠驱动系统的串级模糊滑模控制[J].控制理论与应用,2006,23(1):53-59. 被引量：12
  • 4C Y Chang. Adaptive Fuzzy Controller of the Overhead Cranes with Nonlinear Disturbance [J]. IEEE Transactions on Industrial Informatics (S1551-3203), 2007, 3(2): 164-172.
  • 5Y Fang, W E Dixon, D M Dawson, E Zergeroglu. Nonlinear coupling control laws for an underactuated overhead crane system [J]. IEEE/ASME Transactions on Mechatronics (S 1083-4435), 2003, 8(3): 418-423.
  • 6H Aschemarm. Passivity-Based Control of an Overhead Travelling Crane [C]// Proceedings of the 17th IFAC World Congress, Seoul, Korea, July, 2008. Korea: IFAC, 2008: 7678-7683.
  • 7Yang J Hua, Yang K Shine. Adaptive Control for 3-D Overhead Crane Systems [C]// Proceedings of the 2006 American Control Conference Minneapolis, Minnesota, USA, June, 2006. USA: IEEE, 2006: 1832-1837.
  • 8C Chang. Adaptive Fuzzy Controller of the Overhead Cranes with Nonlinear Disturbance [J]. IEEE Transactions on Industrial Informatics (S1551-3203), 2007, 3(2): 164-172.
  • 9S Ohdaira, I Mizumoto, R Kohzawa, Z lwai. Dual-rate Robust Adaptive Control of a Cart-crane System [C]// SICE-ICASE International Joint Conference, Korea, Oct., 2006, Korea. USA: IEEE, 2006: 1800-1805.
  • 10T Meressi. Modeling and Control of a Three Dimensional Gantry Robot [C]// Proceedings of the 37th IEEE Conference on Decision & Control Tampa, USA, December 1998. USA: IEEE, 1998: 1514-1515.

二级参考文献19

  • 1张天平,冯纯伯.一类非线性系统的自适应模糊滑模控制[J].自动化学报,1997,23(3):361-369. 被引量：49
  • 2ISABAELLE F,ROGELIO L,MARK W S.Energy control of the pendubot [J].IEEE Trans on Automatic Control,2000,45(4):725-729.
  • 3GIORGIO C,ALESSANDRO G,GIAMPAOLO U.An implicit Gain-scheduling controller for Cranes [J].IEEE Trans on Control Systems Technology,1998,6(1):15-20.
  • 4YI J Q,YUBAZAKI N,HIROTA K.A new fuzzy controller for stabilization of parallel-type Double inverted pendulum Syetem [J].Fuzzy Sets and Systems,2002,126(1):105-119.
  • 5WILLIAM S,LISA P,MICHAEL K,ERIC K.Effect of hoisting on the input shaping control of gantry cranes [J].Control Engineering Practice,2000,8(10):1159-1165.
  • 6LEE H,KIM E,KANG H J,MIGNON P.A new sliding-mode control with fuzzy boundary layer [J].Fuzzy Sets and Systems,2001,120(1):135-143.
  • 7TU K Y,LEE T,WANG W J.Design of a multi-layer fuzzy logic controller for multi-input multi-output systems [J].FuzzySets and Systems,2000,111(2):199-214.
  • 8RYU S H,PARK J H.Auto-Tuning of sliding mode control parameters using fuzzy logic[C]//Proceedings of the American Control Conference.NY,USA:IEEE Press,2001:618-623.
  • 9MON Y J,LIN.Hierarchical fuzzy sliding-mode Control[C]//The 2002 IEEE World Congress on Computational Intelligence.USA:IEEE Neural Network Society Press,2002:656-661.
  • 10HSU Y C,CHEN G R,LI H X.A fuzzy adaptive variable structure controller with applications to robot manipulators[J].IEEE Trans on Systems,Man and Cybernetics-part B:Cybernetics,2001,31(3):331-340.

共引文献57

同被引文献153

引证文献25

二级引证文献122

系统仿真学报
2009年 第12期

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部