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

Figure 8

Experiment 3: System state response curve under the condition of a nonzero initial swing angle. (a) Sliding surface S. (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)