A hybrid control approach is proposed to achieve the desired performance. Firstly a robust input shaper is designed to reduce the transient vibration and residual vibration of the container efficiently. Then a simple ...A hybrid control approach is proposed to achieve the desired performance. Firstly a robust input shaper is designed to reduce the transient vibration and residual vibration of the container efficiently. Then a simple fuzzy logic controller is designed to eliminate the residual vibration completely in order to guarantee the positioning precision. Such a hybrid approach is simple in structure and readily realizable. Simulation results verify the fine performance of this hybrid control approach. It can achieve perfect elimination of residual vibration and concise positioning of the container load, and it is robust to parameter variations （mainly for cable length） and external disturbances.展开更多
Zero placement method in the frequency domain is utilized to design robust multi-hump EI optimal arbitrary time-delay filter （OATF） by placing two or more filter zeros near the system poles. A total insensitive OATF...Zero placement method in the frequency domain is utilized to design robust multi-hump EI optimal arbitrary time-delay filter （OATF） by placing two or more filter zeros near the system poles. A total insensitive OATF can be also achieved if the problem of insensitivity to damping errors is considered. This design strategy is easier to derive and implement. Applications in the anti-swing control of overhead cranes verify the fine performance of this strategy. A better suppression of the load vibrations is obtained using the proposed new OATF, which is more robust to the variation of the cable length.展开更多
基金This project is supported by National Hi-tech Research and DevelopmentProgram of China (863 Program, No.2002AA412010).
文摘A hybrid control approach is proposed to achieve the desired performance. Firstly a robust input shaper is designed to reduce the transient vibration and residual vibration of the container efficiently. Then a simple fuzzy logic controller is designed to eliminate the residual vibration completely in order to guarantee the positioning precision. Such a hybrid approach is simple in structure and readily realizable. Simulation results verify the fine performance of this hybrid control approach. It can achieve perfect elimination of residual vibration and concise positioning of the container load, and it is robust to parameter variations （mainly for cable length） and external disturbances.
基金This project is supported by National Hi-tech Research and Development Program of China (863 Program, No. 2002AA412010).
文摘Zero placement method in the frequency domain is utilized to design robust multi-hump EI optimal arbitrary time-delay filter （OATF） by placing two or more filter zeros near the system poles. A total insensitive OATF can be also achieved if the problem of insensitivity to damping errors is considered. This design strategy is easier to derive and implement. Applications in the anti-swing control of overhead cranes verify the fine performance of this strategy. A better suppression of the load vibrations is obtained using the proposed new OATF, which is more robust to the variation of the cable length.
