Adaptive input shaping control of a rotary hook
Adaptive input shaping control of a rotary hook
复制标题
旋梭的自适应输入整形控制
DOI：
10.1109/sice.2016.7749231
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
K. Terashima
中科院分区：
文献类型：
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作者：
Ho Duc Tho;Kento Takemori;R. Tasaki;T. Miyoshi;K. Terashima
在起重机系统中，旋转吊钩起着调节有效载荷的倾斜角以与船舶或集装箱卡车的倾斜角相匹配的重要作用。目前，旋挖大钩主要由经验丰富的熟练工人进行人工控制。因此，本文提出了一种自适应输入成形（AIS）算法，用于旋转吊钩系统，该算法可以自动驱动有效载荷到期望的角度，同时抑制柔性绳索引起的残余振荡。自适应输入整形方案的核心是一个代数估计器。此外，AIS和内置的鲁棒指定不灵敏度（SI）输入整形器之间的比较也将进行时，他们都是鲁棒的旋转钩系统的固有频率的不确定性。所有结论都将通过仿真结果得到验证。
In crane systems, rotary hook plays an important role in adjusting the skew angle of payload to match with skew angle of vessels or container trucks. At the present, rotary hook is mainly controlled manually by experienced and skilled workers. Therefore, this paper presents to develop an adaptive input shaping (AIS) algorithm for rotary hook system which can automatically drive the payload to desired angle while suppressing the residual oscillation caused by flexible ropes. An algebraic estimator will be the center of adaptive input shaping scheme. Moreover, the comparison between AIS and built-in robust Specified Insensitivity (SI) input shaper will be also conducted when both of them are shaped to be robust with the natural frequency uncertainty of rotary hook system. All of conclusions will be verified through simulation results.