http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
SOS 제어기와 HOSM 추정기를 이용한 천정형 크레인의 외란 보상 제어
권동우(Dongwoo Kwon),엄명환(Myunghwan Eom),좌동경(Dongkyoung Chwa) 대한전자공학회 2015 대한전자공학회 학술대회 Vol.2015 No.6
This paper proposes SOS (Sum of Squares) method to anti-swing control of overhead crane system. The dynamic equations of overhead crane contain nonlinear terms are represented as polynomials by using Taylor series expansion. The control input is obtained from converted dynamic equations by numerical tool called as SOSTOOL. Also, we propose a method to compensate the disturbance using HOSM (High-Order Sliding-Modes) observer. Numerical simulations show the effectiveness and the applicability of the proposed method.