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이숙재(S. J. Lee),홍금식(K. S. Hong) 한국정밀공학회 2004 한국정밀공학회 학술발표대회 논문집 Vol.2004 No.10월
In this paper, we propose a simple control scheme, based on second order sliding modes, which guarantees a fast and precise container transfer and the swing suppression during the container movement, despite of model uncertainties and unmodeled dynamic actuators. In the actual case, the swing suppression is obtained by constraining the system motion on a suitable surface which involves both the desired path and the swing angle. Strictly speaking, the trolley velocity is modified on-line, on the actual swing angle, to obtain the suppression of the oscillations not only at the end of the transport but during transfer as well. Such controller has been tested on a laboratory-size model of the 3Dcrane, and some experimental results are reported.