In this paper, an adaptive proportional-derivative sliding mode control(APD-SMC) law, is proposed for 2D underactuated overhead crane systems. The proposed controller has the advantages of simple structure, easy to im...In this paper, an adaptive proportional-derivative sliding mode control(APD-SMC) law, is proposed for 2D underactuated overhead crane systems. The proposed controller has the advantages of simple structure, easy to implement of PD control, strong robustness of SMC with respect to external disturbances and uncertain system parameters, and adaptation for unknown system dynamics associated with the feedforward parts. In the proposed APD-SMC law, the PD control part is used to stabilize the controlled system, the SMC part is used to compensate the external disturbances and system uncertainties,and the adaptive control part is utilized to estimate the unknown system parameters. The coupling behavior between the trolley movement and the payload swing is enhanced and, therefore, the transient performance of the proposed controller is improved.The Lyapunov techniques and the La Salle's invariance theorem are employed in to support the theoretical derivations. Experimental results are provided to validate the superior performance of the proposed control law.展开更多
3D digital design for cranes’ structures based on hybrid software architecture of Client/Server and Browser/Server is introduced in this paper. Based on Pro/ENGINEER platform,3D parametric model family is built to al...3D digital design for cranes’ structures based on hybrid software architecture of Client/Server and Browser/Server is introduced in this paper. Based on Pro/ENGINEER platform,3D parametric model family is built to allow generation of feasible configurations of cranes’ structures in Client/Server framework. Taking use of Visual C++,the second exploiting software kit provided by Pro/ENGINEER and ANSYS GUI/APDL modeling patterns,an integration method of 3D CAD and CAE is achieved,which includes regeneration of 3D parametric model,synchronous updating and analysis of FEA model. As in Browser/Server framework,the 3D CAD models of parts,components and the whole structure could also be displayed in the customer’s browser in VRML format.展开更多
基金supported in part by the National High Technology Research and Development Program of China(863 Program)(2015AA042307)Shandong Provincial Scientific and Technological Development Foundation(2014GGX103038)+3 种基金Shandong Provincial Independent Innovation and Achievement Transformation Special Foundation(2015ZDXX0101E01)National Natural Science Fundation of China(NSFC)Joint Fund of Shandong Province(U1706228)the Fundamental Research Funds of Shandong University(2015JC027)
文摘In this paper, an adaptive proportional-derivative sliding mode control(APD-SMC) law, is proposed for 2D underactuated overhead crane systems. The proposed controller has the advantages of simple structure, easy to implement of PD control, strong robustness of SMC with respect to external disturbances and uncertain system parameters, and adaptation for unknown system dynamics associated with the feedforward parts. In the proposed APD-SMC law, the PD control part is used to stabilize the controlled system, the SMC part is used to compensate the external disturbances and system uncertainties,and the adaptive control part is utilized to estimate the unknown system parameters. The coupling behavior between the trolley movement and the payload swing is enhanced and, therefore, the transient performance of the proposed controller is improved.The Lyapunov techniques and the La Salle's invariance theorem are employed in to support the theoretical derivations. Experimental results are provided to validate the superior performance of the proposed control law.
基金Supported by Shanghai Leading Academic Discipline Project ,Project Number :T0601
文摘3D digital design for cranes’ structures based on hybrid software architecture of Client/Server and Browser/Server is introduced in this paper. Based on Pro/ENGINEER platform,3D parametric model family is built to allow generation of feasible configurations of cranes’ structures in Client/Server framework. Taking use of Visual C++,the second exploiting software kit provided by Pro/ENGINEER and ANSYS GUI/APDL modeling patterns,an integration method of 3D CAD and CAE is achieved,which includes regeneration of 3D parametric model,synchronous updating and analysis of FEA model. As in Browser/Server framework,the 3D CAD models of parts,components and the whole structure could also be displayed in the customer’s browser in VRML format.
