Overhead crane automatic control jib crane of nonlinear underactuated

Under- drive system is the number of degrees of freedom to control the amount is less than the system of a class bridge gantry crane . By eliminating the parts of the drive system can reduce the complexity of the design , and can effectively reduce the cost or weight of the system itself , and thus the practical application of many of the systems are designed to be under- drive system , such as spacecraft , helicopter , underwater vehicle , satellite, flexible robots ; addition, when a drive failure of some all- drive system when it will become a less drive system. Although UNDERACTUATED bring great convenience features on the system design, manufacture, but it also makes the internal dynamics of the system is more complex, and usually accompanied by a non- complete constraint , so the system control has brought great challenges in recent years, the study of such systems control theory and gradually developed into a research steel crane. Overhead crane is a typical non-linear , strong coupling, due to the drive system , it has a load capacity, flexible operation , significant energy saving , etc., has been widely applied to many areas of industrial production , ports and transportation. In order to improve transport efficiency and safety performance of the cable car system , an urgent need to design a reasonable control strategy to achieve its automatic operation.