Liang Yanyang

Anti-swing control of the crane system based on input shaping technique

This paper proposes a control technique based on classical control theory and feedforward input shaping technique for anti-swing control of the crane system considering for the complexity, insufficient performance and laborious controller realization of the traditional close-loop control strategy. Firstly, basic mathematical model of the crane system is established, and then servo control system for the derived simplified model is designed adopting classical control theory. Secondly, input shaping technique is introduced to the servo control system and anti-swing ZV input shaper is obtained. Finally, simulation in MATLAB environment validates the proposed control technique.

Research on optimal tension distribution of cable-driven parallel robot

For the tension distribution problem of cable-driven parallel robot, a new tension distribution method based on normal linear programming is researched. Because cables only sustain tensions, and the limitation of tensions are finite, so the computation of cable tensions become very important. By introducing a slack variable and transforming the objective function about tensions into one about slack variable, the optimist tension distribution in feasible zone is obtained. Comparing with the 1-norm optimal algorithm, results show that the optimal tensions received by new method is far away from the boundary of cable tensions, the control of tension distribution is much convenient and the controllable workspace is relatively increased.