This paper presents a sliding mode control algorithm to suppress the sway of the payload caused by operator instructions during the operation of a boom crane. Firstly, established a mathematical model of the boom crane, followed by the design of a sliding mode controller. Based on Lyapunov stability theory, stability analysis was conducted on the system, and finally, simulation analysis was conducted on the boom crane system. The simulation results evince that the proposed sliding mode control algorithm in the boom crane system can effectively suppress the residual sway of the payload, substantiating the availability of the method.
In this paper, we designed and demonstrated an IPMC actuated wing for mimicking flapping motion of a butterfly. Unlike other insects, such as dragonfly, housefly, mosquito etc. with high frequency of vibration (>30Hz on flying), the flapping times of butterfly wing is less than ten times. That’s to say, the frequency of butterfly wing is lower than 10Hz. So it is feasible that utilizing IPMC actuator with excellent advantage of low frequency response to imitate the flapping motion of butterfly. Firstly, to improve the frequency response of IPMC actuator, we fabricated the strip shaped IPMC with the thickness less than 100μm and Au electroplating was employed in the preparation process. Secondly, IPMC actuated wing and biomimetic butterfly fully made of IPMC were designed and fabricated. Finally, we measured and evaluated the deformations, block forces and lift forces of the flapping wing. Experimental results demonstrated that thin IPMC exhibits a large flapping with light weight, which is more suitable for flapping wing.
Access to the requested content is limited to institutions that have purchased or subscribe to SPIE eBooks.
You are receiving this notice because your organization may not have SPIE eBooks access.*
*Shibboleth/Open Athens users─please
sign in
to access your institution's subscriptions.
To obtain this item, you may purchase the complete book in print or electronic format on
SPIE.org.
INSTITUTIONAL Select your institution to access the SPIE Digital Library.
PERSONAL Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.