臺灣博碩士論文加值系統

由於需求的定位精準度，小擺動角度，短運輸時間，高安全性，無論運動方式和系統穩定都是現在高架型起重機領域非常熱門的研究領域。由於高架型起重機系統的致動不足方面是負載的搖晃，對於高架型起重機系統的繩索擺動角度與位置追蹤是非常難以控制的。所以我們利用高架型起重機系統的特性來設計。本論文主要的控制目標不僅是為了維持繩子在下垂的地位，而且還帶動起重機達到預期的參考位置。
為了實現高架型起重機系統的穩定度分析，在一開始先設計線性控制器來操作的線性高架型起重機系統。據線性化的情況下得到的資訊，原來的系統可以利用非線性遞迴步階控制器成功的達成我們的控制目標為。我們提出遞迴步階控制器不僅讓高架型起重機系統達到穩定的效果，而且還讓追踪誤差能收斂到零。此外，適應性遞迴步階控制器設計可以針對系統不確定性的追踪控制在高架型起重機系統。最後，會有一些模擬結果來說明控制器在高架型起重機系統有很好的成果。

Due to the requirements of exact positioning accuracy, small swing angle, short transportation time and high safety, both motion and stabilization control objectives for an overhead crane system have become interesting issues in the field of control technology
development. Since the overhead crane system is subject to underactuation with respect to the load sway dynamics, it is very hard to manipulate the crane system in a desired manner, namely, gantry position tracking and sway angle stabilization. The nonlinear and adaptive controllers based on backstepping design schemes are developed for the manipulation of overhead crane systems. The main control objective is not only to maintain the rope at the downcast position, but also to drive the crane to reach the desired reference position.
In order to analyze and realize the system properties of the overhead crane system, in the beginning, the linear controller is designed for the manipulation of the linearized overhead crane system. According the information from the linearized case, the nonlinear backstepping controllers can be successfully developed to achieve our control objectives for the original system. The proposed backstepping controllers are not only to stabilize the
overhead crane system, but also to drive the tracking errors to converge to zero asymptotically. In addition, an adaptive backstepping design scheme is developed and proposed to cope with system uncertainties for the tracking control of an overhead crane system. Finally, some simulation results are given to illustrate the excellent performance of the proposed controllers applied to an overhead crane system.

Contents i
List of Tables ii
List of Figures iii
1 Introduction 1
2 Modeling of Overhead Crane System 6
2.1 MathematicalModel . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.2 Problem Statements . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3 Nonlinear Backstepping Control Design 11
3.1 Linearized System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.2 Nonlinear Control Design . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.3 Simulation Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
4 Adaptive Backstepping Control 28
4.1 Adaptive Control Design . . . . . . . . . . . . . . . . . . . . . . . . . 28
4.2 Simulation Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
5 Conclusions and Future Works 39
Bibliography 42

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