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第4期 陈鹤,等:面向大尺寸货物运送的吊车控制方法综述 ·835· 2464 beams[J].Mechanical systems and signal processing, [30]TERASHIMA K,SHEN Y,YANO K.Modeling and 2020,144:106968. optimal control of a rotary crane using the straight trans- [41]SUN Ning,FU Yu,YANG Tong,et al.Nonlinear mo- fer transformation method[J].Control engineering prac- tion control of complicated dual rotary crane systems tice,2007,15(9:1179-1192. without velocity feedback:design,analysis,and hard- [31]SUN Ning,FANG Yongchun,CHEN He,et al. ware experiments[J].IEEE transactions on automation Slew/translation positioning and swing suppression for science and engineering,2020,17(2):1017-1029. 4-DOF tower cranes with parametric uncertainties: [42]ZHOU Bin,ZI Bin,LI Yuan,et al.Hybrid compound design and hardware experimentation[J].IEEE transac- function/subinterval perturbation method for kinematic tions on industrial electronics,2016,63(10):6407-6418. analysis of a dual-crane system with large bounded un- [32]LEE HH,LIANG Y.A robust anti-swing trajectory con- certainty[J].Journal of computational and nonlinear dy- trol of overhead cranes with high-speed load hoisting: namics.2020,16(1:(014501)1-10. experimental study[C]//Proceedings of ASME 2010 In- [43]RAMLI L,MOHAMED Z.ABDULLAHI A M.et al. ternational Mechanical Engineering Congress and Ex- Control strategies for crane systems:a comprehensive position.Vancouver:ASME,2012:711-716. review[J].Mechanical systems and signal processing, [33]CHEN He,FANG Yongchun,SUN Ning.A swing con- 2017,95:1-23 straint guaranteed MPC algorithm for underactuated [44]SHI Huaitao,LI Gang,MA Xin,et al.Research on non- overhead cranes[J].IEEE/ASME transactions on linear coupling anti-swing control method of double pen- mechatronics,.2016,21(5):2543-2555. dulum gantry crane based on improved energy[].Sym- [34]HONG K S,NGO Q H.Dynamics of the container crane metry,2019,11(12):1511. on a mobile harbor[J].Ocean engineering,2012,53: [45]MALEKI E,SINGHOSE W.Swing dynamics and input- 16-24. shaping control of human-operated double-pendulum [35]SUN Ning,YANG Tong,FANG Yongchun,et al. boom cranes[J].Journal of computational and nonlinear Transportation control of double-pendulum cranes with a dynamics,2012,7(3):(310061-10, nonlinear quasi-PID scheme:design and experiments[J]. [46]CHAI Lin,GUO Qihang.LIU Huikang,et al.Linear act- IEEE transactions on systems,man,and cybernetics:sys- ive disturbance rejection control for double-pendulum tems,2019,49(7):1408-1418 overhead cranes[J].IEEE access,2021,9:52225-52237. [36]GAIDAI O,YURCHENKO D,YE Renchuan,et al.Off- [47]TAN H,NURAHMI L,PRAMUJATI B,et al.On the shore crane non-linear stochastic response:novel design reconfiguration of cable-driven parallel robots with mul- and extreme response by a path integration[J].Ships and tiple mobile cranes[C]//2020 5th International Confer- offshore structures,2022,17(6):1294-1300. ence on Robotics and Automation Engineering.Singa- [37]JAAFAR H I,MOHAMED Z,AHMAD M A,et al. pore:IEEE,2020:126-130. Control of an underactuated double-pendulum overhead [48]ZI Bin,QIAN Sen,DING Huafeng.et al.Design and crane using improved model reference command shap- analysis of cooperative cable parallel manipulators for ing:design,simulation and experiment[J].Mechanical multiple mobile cranes[J].International journal of ad- systems and signal processing,2021,151:107358. vanced robotic systems,2017,9(5):207-216. [38]Yang Tong,Sun Ning,Fang Yongchun.Adaptive fuzzy [49]QIAN Sen,ZI Bin,ZHANG Dan,et al.Kinematics and control for a class of MIMO underactuated systems with error analysis of cooperative cable parallel manipulators plant uncertainties and actuator deadzones:design and for multiple mobile cranes[.International journal of experiments[J].IEEE transactions on cybernetics,2021: mechanics and materials in design,2014,10(4): 1-14. 395-409. [39]MASOUD Z,ALHAZZA K,ABU-NADA E,et al.A [50 ]CHEN He,FANG Yongchun,SUN Ning.A swing con- hybrid command-shaper for double-pendulum overhead strained time-optimal trajectory planning strategy for cranes[J].Journal of vibration and control,2014,20(1): double pendulum crane systems[J].Nonlinear dynamics, 2437. 2017,89(2):1513-1524 [40]WU Qingxiang,WANG Xiaokai,HUA Lin,et al.Dy- [51]SINGHOSE W,KIM D,KENISON M.Input shaping namic analysis and time optimal anti-swing control of control of double-pendulum bridge crane oscillations[J]. double pendulum bridge crane with distributed mass Journal of dynamic systems,measurement,and control,2464. TERASHIMA K, SHEN Y, YANO K. Modeling and optimal control of a rotary crane using the straight trans￾fer transformation method[J]. Control engineering prac￾tice, 2007, 15(9): 1179–1192. [30] SUN Ning, FANG Yongchun, CHEN He, et al. Slew/translation positioning and swing suppression for 4-DOF tower cranes with parametric uncertainties: design and hardware experimentation[J]. IEEE transac￾tions on industrial electronics, 2016, 63(10): 6407–6418. [31] LEE H H, LIANG Y. A robust anti-swing trajectory con￾trol of overhead cranes with high-speed load hoisting: experimental study[C]//Proceedings of ASME 2010 In￾ternational Mechanical Engineering Congress and Ex￾position. Vancouver: ASME, 2012: 711−716. [32] CHEN He, FANG Yongchun, SUN Ning. A swing con￾straint guaranteed MPC algorithm for underactuated overhead cranes[J]. IEEE/ASME transactions on mechatronics, 2016, 21(5): 2543–2555. [33] HONG K S, NGO Q H. Dynamics of the container crane on a mobile harbor[J]. Ocean engineering, 2012, 53: 16–24. [34] SUN Ning, YANG Tong, FANG Yongchun, et al. Transportation control of double-pendulum cranes with a nonlinear quasi-PID scheme: design and experiments[J]. IEEE transactions on systems, man, and cybernetics:sys￾tems, 2019, 49(7): 1408–1418. [35] GAIDAI O, YURCHENKO D, YE Renchuan, et al. Off￾shore crane non-linear stochastic response: novel design and extreme response by a path integration[J]. Ships and offshore structures, 2022, 17(6): 1294–1300. [36] JAAFAR H I, MOHAMED Z, AHMAD M A, et al. Control of an underactuated double-pendulum overhead crane using improved model reference command shap￾ing: design, simulation and experiment[J]. Mechanical systems and signal processing, 2021, 151: 107358. [37] Yang Tong, Sun Ning, Fang Yongchun. Adaptive fuzzy control for a class of MIMO underactuated systems with plant uncertainties and actuator deadzones: design and experiments[J]. IEEE transactions on cybernetics, 2021: 1−14. [38] MASOUD Z, ALHAZZA K, ABU-NADA E, et al. A hybrid command-shaper for double-pendulum overhead cranes[J]. Journal of vibration and control, 2014, 20(1): 24–37. [39] WU Qingxiang, WANG Xiaokai, HUA Lin, et al. Dy￾namic analysis and time optimal anti-swing control of double pendulum bridge crane with distributed mass [40] beams[J]. Mechanical systems and signal processing, 2020, 144: 106968. SUN Ning, FU Yu, YANG Tong, et al. Nonlinear mo￾tion control of complicated dual rotary crane systems without velocity feedback: design, analysis, and hard￾ware experiments[J]. IEEE transactions on automation science and engineering, 2020, 17(2): 1017–1029. [41] ZHOU Bin, ZI Bin, LI Yuan, et al. Hybrid compound function/subinterval perturbation method for kinematic analysis of a dual-crane system with large bounded un￾certainty[J]. Journal of computational and nonlinear dy￾namics, 2020, 16(1): (014501)1–10. [42] RAMLI L, MOHAMED Z, ABDULLAHI A M, et al. Control strategies for crane systems: a comprehensive review[J]. Mechanical systems and signal processing, 2017, 95: 1–23. [43] SHI Huaitao, LI Gang, MA Xin, et al. Research on non￾linear coupling anti-swing control method of double pen￾dulum gantry crane based on improved energy[J]. Sym￾metry, 2019, 11(12): 1511. [44] MALEKI E, SINGHOSE W. Swing dynamics and input￾shaping control of human-operated double-pendulum boom cranes[J]. Journal of computational and nonlinear dynamics, 2012, 7(3): (31006) 1−10. [45] CHAI Lin, GUO Qihang, LIU Huikang, et al. Linear act￾ive disturbance rejection control for double-pendulum overhead cranes[J]. IEEE access, 2021, 9: 52225–52237. [46] TAN H, NURAHMI L, PRAMUJATI B, et al. On the reconfiguration of cable-driven parallel robots with mul￾tiple mobile cranes[C]//2020 5th International Confer￾ence on Robotics and Automation Engineering. Singa￾pore: IEEE, 2020: 126−130. [47] ZI Bin, QIAN Sen, DING Huafeng, et al. Design and analysis of cooperative cable parallel manipulators for multiple mobile cranes[J]. International journal of ad￾vanced robotic systems, 2017, 9(5): 207–216. [48] QIAN Sen, ZI Bin, ZHANG Dan, et al. Kinematics and error analysis of cooperative cable parallel manipulators for multiple mobile cranes[J]. International journal of mechanics and materials in design, 2014, 10(4): 395–409. [49] CHEN He, FANG Yongchun, SUN Ning. A swing con￾strained time-optimal trajectory planning strategy for double pendulum crane systems[J]. Nonlinear dynamics, 2017, 89(2): 1513–1524. [50] SINGHOSE W, KIM D, KENISON M. Input shaping control of double-pendulum bridge crane oscillations[J]. Journal of dynamic systems, measurement, and control, [51] 第 4 期 陈鹤,等:面向大尺寸货物运送的吊车控制方法综述 ·835·
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