Coordinated Motion Control of Large-Scale Transporter for Conveying Heavy Frame Components in Ship-Manufacturing

Abstract:

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A large-scale elevating transporter that has multi-wheels to be steered independently is a very complex mechatronic system. Aiming at its real-time coordinated motion control, a multi-mode steering system based on Networked Control System (NCS) is proposed to tackle the problem in the paper. Through motion synthesis, such as kinematics and dynamics modeling and analysis, and using the inherent real-time data sharing of the NCS, a cross-coupled control algorithm for improving contour accuracy is developed. This control methodology is then applied to the coordinated motion control of a practical product with multi-steering modes successfully.

Info:

Periodical:

Materials Science Forum (Volumes 505-507)

Edited by:

Wunyuh Jywe, Chieh-Li Chen, Kuang-Chao Fan, R.F. Fung, S.G. Hanson,Wen-Hsiang Hsieh, Chaug-Liang Hsu, You-Min Huang, Yunn-Lin Hwang, Gerd Jäger, Y.R. Jeng, Wenlung Li, Yunn-Shiuan Liao, Chien-Chang Lin, Zong-Ching Lin, Cheng-Kuo Sung and Ching-Huan Tzeng

Pages:

1159-1164

DOI:

10.4028/www.scientific.net/MSF.505-507.1159

Citation:

Y. H. Li et al., "Coordinated Motion Control of Large-Scale Transporter for Conveying Heavy Frame Components in Ship-Manufacturing", Materials Science Forum, Vols. 505-507, pp. 1159-1164, 2006

Online since:

January 2006

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Price:

$35.00

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