سال انتشار: ۱۳۹۱

محل انتشار: بیستمین کنفرانس سالانه مهندسی مکانیک

تعداد صفحات: ۵

نویسنده(ها):

Yousef Bazargan – Lari – Department of mechanical engineering, Shiraz branch, Islamic Azad University, Shiraz, Iran
Mohammad Eghtesad – School of Mechanical Engineering, Shiraz University, Shiraz, Iran
Ahmadreza Ghahramani – Department of mechanical engineering, Shiraz branch, Islamic Azad University, Shiraz, Iran
Ehsan Zakeri – Department of mechanical engineering, Shiraz branch, Islamic Azad University, Shiraz, Iran

چکیده:

In the present work, the adaptive neural network controlling technique is considered in order to have tracking control of a 3-D overhead gantry crane system which uses in industry to transport heavy loads. The dynamic equation used in this paper is based on close form equations of motion, made by lagrangian method. To control this system, a proper control law was conceived and used. With the aim of having an experimental condition in common with the real condition, the controller is designed in the appearance of load disturbance. The Simulation results substantiate the accuracy and the similarity between the desired values and the tracked ones