DocumentCode
3409885
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
fYear
2007
fDate
5-8 Aug. 2007
Firstpage
2922
Lastpage
2927
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ICMA.2007.4304024
Filename
4304024
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