Adaptive Backstepping Control of Crane Hoisting System

Author

Cao, Lingzhi ; Wang, Hongwei ; Niu, Chao ; Wei, Shangbei

Author_Institution

Sch. of Control Sci. & Eng., Huazhong Univ. of Sci. & Technol., Wuhan

fYear

2007

fDate

14-17 Sept. 2007

Firstpage

245

Lastpage

248

Abstract

With the continuous progress of the society, requirement of the position control precision for the crane is becoming higher and higher. The running laws of the crane are analyzed and the electromechanical coupling model is established in this paper, thereby the state of the motor and the load´s motion are unified effectively. Based on this model, the adaptive backstepping strategy is designed by regarding the load´s position as the control variable; the adaptive law is also designed in order to adjust the value of system parameters and external disturbances online. The simulation results show that the system not only have faster respond speed and smaller track error, but also restrain the influence of the load wave and parameter perturbation effectively.

Keywords

adaptive control; cranes; electromechanical effects; position control; adaptive backstepping control; crane hoisting system; electromechanical coupling model; external disturbances; parameter perturbation; position control; system parameters; Adaptive control; Backstepping; Control systems; Cranes; Electric variables control; Mechanical factors; Motion analysis; Programmable control; Rotors; Synchronous motors;

fLanguage

English

Publisher

ieee

Conference_Titel

Bio-Inspired Computing: Theories and Applications, 2007. BIC-TA 2007. Second International Conference on

Conference_Location

Zhengzhou

Print_ISBN

978-1-4244-4105-1

Electronic_ISBN

978-1-4244-4106-8

Type

conf

DOI

10.1109/BICTA.2007.4806460

Filename

4806460