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

Figure 9

Experiment 4: Response curve of the system state quantity under system parameter disturbance. (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)