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Identification and Feed Forward Control of a Flexible Stacker Crane

机译:柔性堆垛机的识别与前馈控制

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This paper demonstrates that filtered inverse system can be used effectively for the feed forward control of a flexible stacker crane. A numeric model for the crane is developed from the experimental input and output data From this model, a feedfoward controller based on an inverse system was developed and simulated. We applied the feedforward control to an actual stacker crane. Validity of the proposed control method was verified from the numerical simulation and the experiment. The numerical simulation and experimental results show the good control performance.
机译:本文证明,滤波后的逆系统可以有效地用于柔性堆垛机的前馈控制。根据实验输入和输出数据开发了起重机的数值模型。根据该模型,开发并仿真了基于逆系统的前馈控制器。我们将前馈控制应用于实际的堆垛机。通过数值模拟和实验验证了所提控制方法的有效性。数值模拟和实验结果表明了良好的控制性能。

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