Research on Fast Positioning and Anti-swing Control about Truck Crane Based on Partial Feedback Linearization
Truck crane is a type of under-actuated mechanical systems.The motion rule of weight is uncertain.To promote the handling and operation efficiency of truck crane,its operation process was researched.The dynamics of truck crane system were derived based on Lagrange equation and they were verified by MATLAB simulation.Then the control system was designed based on the partial feedback linearization.A simulation research was performed.Simulation results showed that the control system was effective to realize the position control and anti-swing control.The robustness of control system was also demonstrated by simulation.In addition, considering the actual working process of truck crane, the control system did not work until truck crane can realize the target position.The results show that the control system could eliminate the swing of suspended load rapidly.
truck crane under-actuated mechanical system lagrange equation partial feedback linearization anti-swing control
Jiao Shengjie Zhu Wenfeng Zhao Ruiying Liu Danjie
Highway Maintenance Equipment National Engineering Laboratory, Changan University, Xian 710061, Ch SANY Mobile Crane Company, Changsha 410600, China
国际会议
西安
英文
328-333
2015-09-18（万方平台首次上网日期，不代表论文的发表时间）