Identification and Feed Forward Control of a Flexible Stacker Crane

被引：0
|
作者：
Sasaki, Minoru [1 ]
Murota, Takahiro [1 ]
Usui, Jyun [1 ]
Ito, Satoshi [1 ]
机构：
[1] Gifu Univ, Fac Engn, Dept Human & Informat Syst Engn, Gifu 50111, Japan
来源：
ICMIT 2009: MECHATRONICS AND INFORMATION TECHNOLOGY | 2010年 / 7500卷
关键词：
Identification; Feed Forward Control; Stacker Crane; Inverse System; Vibration Control;
D O I：
10.1117/12.859299
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper demonstrates that filtered inverse system can be used effectively for the feed forward control of a flexible stacker crane. A numeric model for the crane is developed from the experimental input and output data. From this model, a feedfoward controller based on an inverse system was developed and simulated. We applied the feedforward control to an actual stacker crane. Validity of the proposed control method was verified from the numerical simulation and the experiment. The numerical simulation and experimental results show the good control performance.
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页数：6
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