Điều khiển cầu trục hoạt động trong không gian 3 chiều sử dụng adaptive command shaping

1.1. General review of cranes and some factual applications ........................................................ 6
1.2. Operation of overhead crane ................................................................................................... 8
1.3. Modeling of an overhead crane ............................................................................................. 10
1.4. Control of 3-D overhead cranes ............................................................................................ 12
1.5. Objectives of the thesis
1.6. Organization of the thesis
2.1. Generalized coordinate [25]
2.2. Euler-Lagrange equations [27]
2.3. Input shaping (IS) method
3.1. Overhead crane modeling
3.2. System linearizing and oscillation specifications
4.1. ZV Input shaping with 3-D overhead crane
4.2. Experiment in Matlab® simulation
5.1. ZV input shaper with variable cable length of 3-D overhead crane ...................................... 43
5.2. Adaptive input shaping method (AIS) applied in 3-D overhead crane ................................. 47
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1.4. Control of 3-D overhead cranes