| 摘要 |
PURPOSE: An anti-swing control logic is designed with a Lyapunov stability theory, and a trajectory generation logic is designed by applying a minimum time control and the Lyapunov stability theory. CONSTITUTION: In a method for controlling a ceiling crane, a path of the crane is divided into an acceleration track, a uniform acceleration track, a deceleration track(101). A driving distance, a driving speed, a vibration of load, and an acceleration time are calculated in the acceleration track(103). A driving distance, and a decelerating time are calculated in the deceleration track(104). The driving distances are added to calculate total driving distance(105). If the driving distance is different with an objective driving distance, a maximum acceleration of the trolley is changed. And above process is repeated. The trolley is controlled by an actual maximum acceleration and the driving time.
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