视觉回授滑动模式控制於天车系统-德霖.PDFVIP

德霖學報「第二十四期」 民國 99年8月 視覺回授滑動模式控制於天車系統 Visual Feedback Sliding-Mode Control of an Overhead Crane System 1 2 3 Li-Jen Shang , Kuo-Kai Shyu , Chien-Hsing Liao 1Associate Professor, Dept. of Computer and Communication Engineering, De-Lin Institute of Technology 2Professor, Dept. of Electrical Engineering, National Central University 3Lecturer, Dept. of Computer and Communication Engineering, De-Lin Institute of Technology Abstract In this study, an anti-swing control scheme and trolley positioning using visual feedback for an underactuated overhead crane system is proposed. It is hard to minimize load swing angle and maximize the speed of load transfer simultaneously by using fewer actuators; moreover, system performance is deteriorated by uncertain parameter and unknown friction. This study proposes a sliding-mode control (SMC) to solve the problems. The sliding surface is designed to couple the trolley dynamics with load-swing dynamics so that the load-swing dynamics is stabilized by injecting the damping effect into the dynamics of the crane system. Furthermore, the designed SMC provides the robustness to complex nonlinear dynamics, unknown load variation and friction. Without using the encoder and/or angle detector mounted on the rotor, this study uses visual signal instead to feedback the system states. A prototype visual feedback crane system is built to verify the proposed algorithm. Experiment results are provided to demonstrate the effectiveness of the proposed visual feedback sliding mode control of the overhead crane