5186

4856

كارشناسي ارشد

قدرت

اصفهان: دانشگاه صنعتي اصفهان، دانشكده برق و كامپيوتر

1388

ده،103ص.:مصور،جدول،نمودار

ص.ع.به فارسي و انگليسي

محمد ابراهيمي

مصطفي غيور،محمد مدني

1/3/89

1396/09/29

كتابنامه

مهندسي برق و كامپيوتر

ID4856

به فارسي و انگليسي: قابل رويت در نسخه ديجيتالي

003 Vision and Mechanical Sensor less Load Swing Estimation and Damping in Overhead Cranes Amin Golabi Amin golabi@ec iut ac ir Evaluated and Approved on March 15 2010 Department of Electrical and Computer Engineering Isfahan Univercityof Technology Isfahan 84156 83111 Iran Degree M Sc Language Farsi M Ebrahimi Supervisor mebrahim@cc iut ac irAbstract New tools are brought about to facilitate industrial applications by ever increasinghuman science Cranes are widely used in industrial applications like steel plants papermiles petrochemical industries cargo and quays In application such as overhead crane container crane tower crane rotary crane and etc the suspended load is subject to swings These swings may be caused by unskilled operators or disturbances like the motor drivetransients wind and collision with an object Load swing during transportation and targetload placing is one of the main concerns in crane applications These sway put thepersonals safety at risk corrupts the mechanical structures and lower load positioningaccuracy so swing should confined in a definite range that ensure enough accuracy In therecently decades extensive research has been conducted in order to solve and optimizecrane operation To damp the swing angle during movement and at stop points severalmethods have been presented in the literature Some of them are based on open loopcontrol strategies such as programmed acceleration profiles feed forward technique ofinput shaping controller and optimal control theory to generate a target speed pattern However since these methods are based on open loop control unpredicted disturbancesmay cause uncompensated considerable swing The other methods use real time swingangle values to damp the sway Since these methods are closed loop control their swaydamping is less sensitive to unpredicted disturbances Some of presented researches inthis area employ fuzzy logic control neural network optimal control and observer controller The performances of these methods are proper but they all need real timeswing angle values to damp the sway Conventional methods employ vision sensors camera which is complicated and expensive especially for small industries Moreover

محمد ابراهيمي

مصطفي غيور،محمد مدني