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首页> 外文期刊>Advances in Mechanical Engineering >Modeling and energy-based fuzzy controlling for underactuated overhead cranes with load transferring, lowering, and persistent external disturbances:
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Modeling and energy-based fuzzy controlling for underactuated overhead cranes with load transferring, lowering, and persistent external disturbances:

机译：具有负载转移，降低和持续外部干扰的欠驱动桥式起重机的建模和基于能量的模糊控制：

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摘要

In practice, vertical load motion is always involved in overhead cranes. In this case, the cable length turns from a constant to a variable, which may induce large amplitude load swing and make it more challenging to develop an appropriate controller. Most existing control methods for varying-cable-length cranes require either linearization or approximation to the original nonlinear dynamics; moreover, the case of external load disturbances is not fully considered. Inspired by these facts, we build the model and suggest an energy-based fuzzy control method for underactuated overhead cranes with load transferring, lowering, and persistent external disturbances. To estimate the persistent external disturbances, we construct a fuzzy disturbance observer. And a strict mathematical analysis of the control method without linearization approximation is presented, providing theoretical support for the superior performance of the proposed controller. Lyapunov techniques and LaSalle’s invariance theorem are used to...
机译：实际上，桥式起重机总是涉及垂直载荷运动。在这种情况下，电缆长度从常数变为变量，这可能会引起大幅度的负载摆幅，并使得开发合适的控制器更具挑战性。现有的大多数用于可变电缆长度起重机的控制方法都需要线性化或近似于原始非线性动力学。此外，没有充分考虑外部负载干扰的情况。受这些事实的启发，我们建立了模型，并提出了一种基于能量的模糊控制方法，用于欠载桥式起重机的负载转移，降低和持续外部干扰。为了估计持续的外部干扰，我们构造了一个模糊干扰观测器。并对不带线性近似的控制方法进行了严格的数学分析，为所提出的控制器的优越性能提供了理论支持。 Lyapunov技术和LaSalle不变性定理用于...

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