Crane systems are usually applied to achieve transportation for heavy payloads in many industrial fields. When the transported cargo cannot be regard as a mass point or the hook mass needs to be considered, the crane system is a double pendulum system, which will bring much more difficulty in design suitable control methods. Considering this fact, we propose a sliding mode tracking method for double pendulum cranes with variable rope length, which achieves accurate trolley and payload hoisting/lowering positioning by properly tracking the pre-planned reference trajectories. The important swing suppression for both payload’s and hook’s swing angles is also ensured simultaneously. Finally, some simulations are included to better verify our method.


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    Titel :

    A Sliding Mode Tracking Control Method for Double Pendulum Crane Systems With Variable Rope Length


    Beteiligte:
    Chen, He (Autor:in) / Yao, Xinya (Autor:in)


    Erscheinungsdatum :

    29.10.2021


    Format / Umfang :

    486125 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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