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首页> 外文会议>First International Conference on Artificial intelligence, modelling amp; simulation >Input Shaping Techniques for Anti-sway Control of a 3-DOF Rotary Crane System
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Input Shaping Techniques for Anti-sway Control of a 3-DOF Rotary Crane System

机译：用于三自由度旋转起重机系统的防摆控制的输入整形技术

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This paper presents development of input shaping for anti-sway control of a 3 degree-of-freedom (3-DOF) rotary crane system. A nonlinear equation of motion in a state space form obtained using Euler-Lagrange technique is considered for the crane's tower in order to control and reduce the sway angle during the rotation. An unshaped square-pulse current input is implemented to determine the characteristic parameters of the system for design and evaluation of the input shaping control techniques. Positive and modified Specified Negative Amplitude (SNA) input shapers with the derivative effects are designed based on the properties of the system. Simulation results of the response of the rotary crane system to the shaped inputs are presented in time and frequency domains. Performances of the control schemes are examined in terms of sway angle reduction and time response specifications. Moreover, the robustness of the feed-forward control schemes is discussed. Finally, a comparative assessment of the proposed control techniques is presented and discussed.
机译：本文介绍了用于3自由度（3-DOF）旋转起重机系统的防摆控制的输入整形技术的发展。为了控制和减小旋转过程中的摇摆角度，考虑了使用欧拉-拉格朗日技术获得的状态空间形式的非线性运动方程，用于起重机的塔架。实现非整形方脉冲电流输入以确定系统的特征参数，以设计和评估输入整形控制技术。根据系统的属性设计具有派生效果的正和修正指定负振幅（SNA）输入整形器。在时域和频域中显示了旋转起重机系统对成形输入的响应的仿真结果。根据摇摆角度的减小和时间响应规范来检查控制方案的性能。此外，讨论了前馈控制方案的鲁棒性。最后，提出并讨论了所提出的控制技术的比较评估。

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