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NGHIEN cuu-TRAO DOI
NGHIEN CU'U THU'C NGHIfM HE TH6N G DI^U KHIEN
C6NG TRUC N6I
EXPERIMENTAL CONTROL OF FLOATING GANTRY CRANES
Pham Van Trieu, Hoang Manh Cirdng, Le Anh Tuan
Trudng Dai hgc Hang hai Viet Nam
TOM TAT
Bdi bdo gi&i thieu mot he thong cdn true dat tren nen dao dpng trong phong thi nghiem, v&i
muc dich gid lap hoat dpng vd kiem chimg chdt lucmg bo dieu khien s6 cho doi tupng cong true ddt
tren tdu hoat dpng ngodi bien. He th6ng ca khi bao g6m mpt c6ng true 3D co ndng ha tdi vd mpt
he robot 6 bdc tu do Gough-Stewart dung de tao dao dpng song. Bp dieu khien so trung tdm duac
cdi dat tren dong vi dieu khien MyRIO-1900, co cdu true m& de thu nghiem cdc bp dieu khien khdc
nhau. Giao dien ngu&i-mdy tren phdn mem Labvew duac xdy dung bao gom cdc chice ndng ca bdn
nhu: Thiet lap yeu cdu cua ngu&i su dung vd gidm sdt qud trinh dpng hoc ciia he th6ng. Bp dieu
khien truat ca bdn duac cdi dat de kiem chung chdt luang thudt todn dieu khien vd khd nang dap
ung he thdng.
Tir khoa: Cong true noi; Dieu khien truat.
ABSTRACT
This paper introduces a crane system mounted on a flexible foundation, which aims to
simulate the operation and evaluate the quality of digital controller for the offshore container crane
that mounted on a ship. The mechanical design consists of a 3D crane in which the cable length
can be adjusted to hoist the cargo, and a 6-DOF robot namely Gough-Stewart platform used for
generating the sea wave excitation. The central digital controller is based on the microcontroller kit
MyRIO-1900. with the openness for implementing the different control laws. The human-machine
interface includes various functions like setting the desired positions, monitoring the system
dynamics. The conventional sliding-mode control is utilized to verify the effectiveness of control
algorithms as well as the response of closed-loop system
Keywords: Floating container crane; Sliding-Mode Control.
ISSN 0866 - 7056
TAP CHi CO KHi VIET NAM. Sd 1+2 nam 2019
www.cokhivietnam.vn