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外文翻译--三维桥式起重机的建模与控制 英文版【优秀】.pdf

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外文翻译--三维桥式起重机的建模与控制 英文版【优秀】.pdf

HOHOONLEEDEPARTMENTOFMECHANICALENGINEERING,UNIVERSITYOFSUWON,SUWCNP0BOX77,SEOUL440600,KOREAMODELINGANDCONTROLOFATHREEDIMENSIONALOVERHEADCRANEINTHISPAPER,ANEWDYNAMICMODELOFATHREEDIMENSIONALOVERHEADCRANEISDERIVEDBASEDONANEWLYDEFINEDTWODEGREEOFFREEDOMSWINGANGLETHEDYNAMICMODELDESCRIBESTHESIMULTANEOUSTRAVELING,TRAVERSING,ANDHOISTINGMOTIONSOFTHECRANEANDTHERESULTINGLOADSWINGFORANTISWINGCONTROL,THISPAPERPROPOSESADECOUPLEDCONTROLSCHEMEBASEDONTHEDYNAMICMODELLINEARIZEDAROUNDTHESTABLEEQUILIBRIUMTHEDECOUPLEDSCHEMEGUARANTEESNOTONLYRAPIDDAMPINGOFLOADSWINGBUTALSOACCURATECONTROLOFCRANEPOSITIONANDLOADHOISTINGFORTHEPRACTICALCASEOFSIMULTANEOUSTRAVELING,TRAVERSING,ANDSLOWHOISTINGMOTIONS,WHICHISALSOPROVENBYEXPERIMENTS1INTRODUCTIONOVERHEADCRANESAREWIDELYUSEDININDUSTRYFORTRANSPORTATIONOFHEAVYLOADSHOWEVER,THECRANEACCELERATION,REQUIREDFORMOTION,ALWAYSINDUCESUNDESIRABLELOADSWINGLARGERACCELERATIONUSUALLYINDUCESLARGERLOADSWINGLOADHOISTINGALSOTENDSTOAGGRAVATETHELOADSWINGTHISUNAVOIDABLELOADSWINGFREQUENTLYCAUSESEFFICIENCYDROP,LOADDAMAGES,ANDEVENACCIDENTSFORSAFETY,OVERHEADCRANESAREUSUALLYSETINMOTIONWITHTHEIRLOADSHOISTEDHIGHERTHANANYPOSSIBLEOBSTACLESANDTHELENGTHOFHOISTINGROPESISKEPTCONSTANTORSLOWLYVARYINGWHILETHECRANESAREINMOTIONVARIOUSATTEMPTSHAVEBEENMADETOCONTROLTHELOADSWINGTHENUMBEROFTHECONTROLINPUTSFORACRANESYSTEMISBYNATURELESSTHANTHATOFTHESYSTEMOUTPUTS,WHICHMAKESTHERELATEDCONTROLPROBLEMSCOMPLICATEDTHECRANECONTROLCONSISTSOFCRANEMOTIONCONTROL,LOADHOISTINGCONTROL,ANDLOADSWINGSUPPRESSIONMITAANDKANAI1979SOLVEDAMINIMUMTIMECONTROLPROBLEMFORSWINGFREEVELOCITYPROFILESOFACRANEUNDERTHECONSTRAINTOFZEROLOADSWINGATTHESTARTANDENDOFACCELERATIONOHNISHIETAL1981PROPOSEDANANTISWINGCONTROLBASEDONTHESWINGDYNAMICSOFTHELOADSTARR1985PROPOSEDANOPENLOOPCONTROLALGORITHM,WHICHREQUIRESTHECONSTRAINTOFZEROINITIALLOADSWINGRIDOUT1987DESIGNEDAFEEDBACKCONTROLLAWUSINGTHEROOTLOCUSMETHODYUETAL1995PROPOSEDANONLINEARCONTROLBASEDONASINGULARPERTURBATIONMETHOD,WHICHISVALIDONLYIFTHELOADMASSISMUCHLARGERTHANTHECRANEMASSMOUSTAFAANDABOUELYAZID1996DISCUSSEDTHESTABILITYOFACRANECONTROLSYSTEMFORHOISTINGMOTIONSOFTHELOADLEEETAL1997PROPOSEDANANTISWINGCONTROLLAWTHATGUARANTEEDBOTHRAPIDDAMPINGOFLOADSWINGANDACCURATECONTROLOFCRANEPOSITIONALLTHEABOVERESEARCHERSHAVEFOCUSEDONTHECONTROLOFTWODIMENSIONALOVERHEADCRANESTHATALLOWONLYTHETRAVELINGANDHOISTINGMOTIONS;HOWEVER,INMOSTFACTORIESANDWAREHOUSESTHREEDIMENSIONALOVERHEADCRANESARENORMALLYUSEDMOUSTAFAANDEBEID1988DERIVEDADYNAMICMODELOFATHREEDIMENSIONALOVERHEADCRANEBASEDONTHESPHERICALCOORDINATESMEIROVITCH,1970ANDGREENWOOD,1988,ANDTHENDESIGNEDATRAJECTORYDEPENDENTCONTROLBASEDONTHEDYNAMICMODELLINEARIZEDALONGADESIREDTRAJECTORYTHEIRLINEARIZEDMODELISCOUPLEDANDITSPARAMETERSAREDEPENDENTONCRANETRAJECTORIES;THISCOMPUCATESTHERELATEDCONTROLDESIGNSANDAPPLICATIONSTHEIRCONCONTRIBUTEDBYTHEDYNAMICSYSTEMSANDCONTROLDIVISIONFORPUBLICATIONINTHEJOURNALOFDYNAMICSYSTEMS,MEASUREMENT,ANDCONTROLMANUSCRIPTRECEIVEDBYTHEDYNAMICSYSTEMSANDCONTROLDIVISIONDECEMBER2,1996ASSOCIATETECHNICALEDITORRREDFIELDTROLADDRESSESONLYTHESUPPRESSIONOFLOADSWING;CONSEQUENTLY,THEIRCONTROLRESULTSINCONSIDERABLEPOSITIONERRORSINCRANEMOTIONANDLOADHOISTINGTHISPAPERPRESENTSAPRACTICALSOLUTIONTOTHEMODELINGANDCONTROLOFTHREEDIMENSIONALOVERHEADCRANES,WHERETHELOADSWING,CRANEMOTION,ANDLOADHOISTINGARECONSIDEREDALLTOGETHERINTHEMODELINGANDCONTROLFIRST,ANEWTWODEGREEOFFREEDOMSWINGANGLEISDEFINEDASSOCIATEDWITHTHETRAVELANDTRAVERSEAXESOFATHREEDIMENSIONALOVERHEADCRANETHENANEWNONLINEARDYNAMICMODELFORTHECRANEISDERIVEDBASEDONTHENEWSWINGANGLEDEFINITIONTHENEWDYNAMICMODELISEQUIVALENTTOTHATOFATHREELINKFLEXIBLEROBOTHAVINGTHEFIRSTFLEXIBLEMODENEXT,THENEWDYNAMICMODELISLINEARIZEDAROUNDTHEVERTICALSTABLEEQUILIBRIUMTHENTHERESULTINGDYNAMICMODELISDECOUPLEDANDSYMMETRICWITHRESPECTTOTHETRAVELINGANDTRAVERSINGMOTIONSOFTHECRANEANDTHEMODELPARAMETERSAREINDEPENDENTOFCRANETRAJECTORY,WHICHSIGNIFICANTLYSIMPLIFIESTHECONTROLPROBLEMSWITHTHISRESULT,THISPAPERPROPOSESANEWDECOUPLEDANTISWINGCONTROLSCHEMETHATGUARANTEESACCURATECONTROLOFCRANEPOSITIONANDLOADHOISTINGASWELLASRAPIDDAMPINGOFLOADSWINGFORTHEPRACTICALCASEOFSIMULTANEOUSTRAVELING,TRAVERSING,ANDSLOWHOISTINGMOTIONSTHEREMAINDEROFTHISPAPERISORGANIZEDASFOLLOWSINSECTION2,ANONLINEARDYNAMICMODELISDERIVEDBASEDONANEWTWODEGREEOFFREEDOMSWINGANGLE,FORATHREEDIMENSIONALOVERHEADCRANEINSECTION3,THENONLINEARDYNAMICMODELISLINEARIZED,ANDTHENANEWDECOUPLEDANTISWINGCONTROLSCHEMEISDESIGNEDUSINGTHELOOPSHAPING,ROOTLOCUS,ANDGAINSCHEDULINGMETHODSINSECTION4,THEDECOUPLEDCONTROLSCHEMEISAPPLIEDTOATHREEDIMENSIONALPROTOTYPEOVERHEADCRANEFORPERFORMANCEEVALUATIONINSECTION5,THECONCLUSIONSAREDRAWNFORTHISSTUDY2MODELINGOFATHREEDIMENSIONALOVERHEADCRANE21DEFINITIONOFGENERALIZEDCOORDINATESFIGURE1SHOWSTHECOORDINATESYSTEMSOFATHREEDIMENSIONALOVERHEADCRANEANDITSLOADXYZISTHEFIXEDCOORDINATESYSTEMANDXJYJZRISTHETROLLEYCOORDINATESYSTEMWHICHMOVESWITHTHETROLLEYTHEORIGINOFTHETROLLEYCOORDINATESYSTEMISX,Y,0INTHEFIXEDCOORDINATESYSTEMEACHAXISOFTHETROLLEYCOORDINATESYSTEMISPARALLELTOTHECOUNTERPARTOFTHEFIXEDCOORDINATESYSTEMYRISDEFINEDALONGTHEGIRDERWHICHISNOTSHOWNINTHEFIGURETHET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