Title :
Modelling and Control of a Self-Levelling Crane
Author :
Zhang, Xiaocheng ; Yi, Jianqiang ; Zhao, Dongbin ; Yang, Guosheng
Author_Institution :
Chinese Acad. of Sci., Beijing
Abstract :
This paper concerns the fields of self-levelling crane systems. We firstly design a practical but simplified 3D crane model. And then, focusing on the self-levelling adjusting mechanism, we derive its static equilibrium equations as the model equations, based on engineering requirements. Thirdly, we propose a try-and-get (TAG) method to realize self-levelling adjustment. Finally, we analyze the defects of the TAG method and put forward an On-Line TAG algorithm, which performs well in the simulation.
Keywords :
cranes; least mean squares methods; nonlinear control systems; self-levelling crane system; static equilibrium equation; try-and-get method; Automatic control; Automation; Cables; Cities and towns; Cranes; Equations; Kinematics; Payloads; Stability analysis; Technical Activities Guide -TAG; 3D crane model; On-Line TAG method; self-levelling;
Conference_Titel :
Mechatronics and Automation, 2007. ICMA 2007. International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-0828-3
Electronic_ISBN :
978-1-4244-0828-3
DOI :
10.1109/ICMA.2007.4304024
