An Enhanced Coupling Adaptive Sliding Mode Control Method for Casting Cranes Based on Radial Spring Damping

Figure 6

Experiment 1: System state quantity response curve. (a) Adaptive parameters. (b) Trolley’s displacement (x). (c) The swing angle of ladle θ. (d) The angle of liquid sloshing φ. (e) Cable’s deformation (r). (f) Driving force (u).

(a)

(b)

(c)

(d)

(e)

(f)