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標題: 3D起重機系統之滑動模式運動控制
Sliding-Mode Motion Control of a 3D Crane System
作者: 莊坤賢
Chuang, Kun-Hsien
Contributors: 黃國興;張政元
Guo-Shing Huang;Cheng-Yuan Chang
Ching-Chih Tsai
關鍵字: Crane;anti-swing
日期: 2012
Issue Date: 2012-09-11 10:30:42 (UTC+8)
Publisher: 電機工程學系所
摘要: 中文摘要
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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