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Coordinated Motion Control of Large-Scale Transporter for Conveying Heavy Frame Components in Ship-Manufacturing

A large-scale elevating transporter that has multi-wheels to be steered independently is a very complex mechatronic system. Aiming at its real-time coordinated motion control, a multi-mode steering system based on Networked Control System (NCS) is proposed to tackle the problem in the paper. Through motion synthesis, such as kinematics and dynamics modeling and analysis, and using the inherent real-time data sharing of the NCS, a cross-coupled control algorithm for improving contour accuracy is developed. This control methodology is then applied to the coordinated motion control of a practical product with multi-steering modes successfully.