Anti-swing Control of the Crane System Based on Input Shaping Technique

摘要：

This paper proposes a control technique based on classical control theory and feedforward input shaping technique for anti-swing control of the crane system considering for the complexity, insufficient performance and laborious controller realization of the traditional close-loop control strategy. Firstly, basic mathematical model of the crane system is established, and then servo control system for the derived simplified model is designed adopting classical control theory. Secondly, input shaping technique is introduced to the servo control system and anti-swing ZV input shaper is obtained. Finally, simulation in MATLAB environment validates the proposed control technique.

关键词： Anti-swing control Input shaping ZV shaper

作者: Liang Yanyang Xiong Wei Wu Li

作者单位: SouthWest University of Science and Technology, Mianyang, Sichuan

会议类型: 国际会议

会议名称: 2011 China Control and Decision Conference(2011中国控制与决策会议 CCDC)

会议地点: 四川绵阳

会议语种:英文

页码: 2793-2796

在线出版日期: 2011-05-23（万方平台首次上网日期，不代表论文的发表时间）