Because of the complexity, non-linearity, and under-actuated features double pendulum overhead cranes, a control method based on linear active disturbance rejection (LADRC) differential flatness theory is proposed to realize accurate trolley positioning effective swing eliminating. Specifically, in order simplify system model, we introduce construct output. Based this method, uncertainty extern...

This paper takes a multi-stage Electro-mechanical Actuator (EMA) as the research object, analyzes lateral force of EMA in vertical state, and overall mathematical model system. Firstly, permanent magnet synchronous motor module is built JMAG according to engineering requirements. Then, electrical control part mechanical transmission are established AMESim, ideal AMESim replaced with designed by...