架空航天飞机运输系统的动力学与控制

Gyoung-Hahn Kim, Umer Hameed Shah, M. Piao, Sang-Hei Choi, Seoung-Nam Kim, K. Hong
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引用次数: 1

摘要

本文讨论了码头集装箱自动化装卸设备之一的架空穿梭运输系统的动力学和控制问题。STS的主要目的是在最短的时间内实现集装箱在港口内的自动化运输功能,同时对精度和安全性也有很高的要求。STS和集装箱起重机的一个主要区别是用于固定吊具的电缆的配置。本文建立了系统的数学模型,得到了一个八极系统。此外,开环控制的方式进行了研究,得出的命令为头顶航天飞机产生最小可能的摇摆载荷。仿真结果表明,STS的减振能力优于传统桥式集装箱起重机,部分原因在于其缆索结构。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Dynamics and control of an overhead shuttle transport system
This paper discusses the dynamics and control problem of an overhead shuttle transport system (STS), which is one of automated container handling equipment in the terminal at a port. The main purpose of the STS is the automated transport function of containers within the port in minimum time, which also requires high precision and safety. A major difference between the STS and a container crane is the configuration of the cables for holding the spreader. A mathematical model of the STS is developed in this paper, which results in an eight-pole system. Also, an open loop control is investigated in the way that the derived command for the overhead shuttle yields the minimum possible sway of the payload. Simulation results show that the vibration suppression capability of the STS is superior to the conventional overhead container crane, which is partially due to the cable configuration.
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