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Student Number 955201071
Author Shen-Sian Syu(許神賢)
Author's Email Address 955201071@cc.ncu.edu.tw
Statistics This thesis had been viewed 1502 times. Download 1066 times.
Department Electrical Engineering
Year 2007
Semester 2
Degree Master
Type of Document Master's Thesis
Language zh-TW.Big5 Chinese
Title The overhead crane system with object-transporting and obstacle-avoiding
Date of Defense 2008-06-18
Page Count 86
Keyword
  • avoiding-obstacle
  • crane
  • fuzzy control
  • image
  • underactuated
  • Abstract In this thesis, we design fuzzy controls to achieve anti-swing and position control for overhead cranes. Furthermore, with the aids of camera, the crane also accomplishes the works of object-transporting and obstacle-avoiding. It is known that overhead cranes are widely used in factories and docks. Experienced operators operate the crane fast and carefully without load swing and obstacles collision. Since the overhead crane system is underactuated and highly nonlinear, it is difficult to control by a systematic process. Moreover, it is hard to be modeled exactly, the control performance and stability are usually deteriorated by the modeling errors. This thesis designs fuzzy controllers to achieve three-dimensional position control and anti-swing control for the crane without its model. Moreover, a camera is installed above the crane to recognize the positions of objects and obstacles such that the crane system can transport objects from the initial position to the assigned destination and avoid the obstacles automatically. From the experimental results, the proposed fuzzy controller has better control performance than the conventional controller does. Furthermore, the goals of object- transporting and obstacle-avoiding are also achieved accurately.
    Table of Content 摘要..........I
    Abstract..........II
    致謝..........III
    目錄..........IV
    圖目錄..........VI
    表目錄..........IX
    第一章 緒論..........1
    1.1 前言..........1
    1.2 文獻回顧..........1
    1.3 研究動機與目的..........3
    1.4 報告架構..........4
    第二章 天車系統架構..........5
    2.1 天車系統架構..........5
    2.1.1 天車機構..........5
    2.1.2 個人電腦..........8
    2.1.3 馬達控制卡..........8
    2.1.4 網路攝影機..........8
    2.2 欠驅動系統特性..........9
    2.3 人機介面..........10
    第三章 控制器的設計..........12
    3.1 天車控制系統描述..........12
    3.2 模糊控制器..........14
    3.3 P控制器..........24
    3.4 模糊P控制器..........26
    3.5 實驗結果與討論..........28
    3.5.1 實驗一:短距離移動控制..........29
    3.5.2 實驗二:長距離移動控制..........36
    3.5.3 實驗三:初始狀態受干擾..........42
    3.5.4 實驗四:繩索長度變動之移動控制..........49
    3.5.5 實驗結果分析..........55
    第四章 天車搬運及避障..........56
    4.1 簡介..........56
    4.2 影像處理..........56
    4.2.1 色彩空間模型..........57
    4.2.2 背景相減..........58
    4.2.3 連通物件法..........59
    4.2.4 邊緣偵測..........60
    4.2.5 利用邊緣來切割不同面..........61
    4.2.6 侵蝕、膨脹..........62
    4.2.7 物體實際的位置..........63
    4.3 天車搬運系統..........66
    4.4 天車避障系統..........68
    4.4.1 轉折點之設計..........69
    4.4.2 避障時的擺盪修正..........73
    4.5 實驗結果與討論..........74
    4.5.1 實驗一:天車之搬運控制..........74
    4.5.2 實驗二:天車之避障控制..........77
    4.5.3 實驗結果分析..........81
    第五章 結論..........82
    5.1 結論..........82
    5.2 未來展望..........82
    參考文獻..........84
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    Advisor
  • Wen-June Wang(王文俊)
  • Files
  • 955201071.pdf
  • approve immediately
    Date of Submission 2008-06-24

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