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Journal of Vibration and Control
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DOI: 10.1177/1077546311410762
2012 18: 1081 originally published online 21 September 2011 Journal of Vibration and Control
Nan-Chyuan Tsai, Din-Chang Chen, Li-Wen Shih and Chao-Wen Chiang
technique
Model reduction and composite control for overhead hoist transport system by singular perturbation
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Article
Model reduction and composite control
for overhead hoist transport system
by singular perturbation technique
Nan-Chyuan Tsai, Din-Chang Chen, Li-Wen Shih and
Chao-Wen Chiang
Abstract
An innovative Overhead Hoist Transport (OHT) system is proposed and analyzed to transport fragile semi-finished
products in factories. A triplet of double-link arm is used to carry the load, in replacement of the cables used conven-
tionally. Unlike conventional OHT, the proposed OHTexhibits superior capability for high-speed transportation, flexible
stiffness and is able to account for the inherent auto-sway characteristics and parameters uncertainties of the OHT
system. The three-time-scale plant model of the OHT system, including the drive motors, flexible links and rigid links, is
developed. By singular perturbation order-reduction technique, the highly nonlinear high-order dynamics of the OHT
system can be modeled as a low-order linearized plant so that the synthesis of the feedback controller becomes simpler.
The composite control, composed of sliding mode control and input shaping technique, is proposed. The sliding mode
control is, as usual, employed to account for the system parameters uncertainties. On the other hand, to suppress
the residual vibration, i.e., auto-swaying, the input shaping technique is utilized by implementation of a finite-length
sequence of impulses in the appropriate amplitude and time epoch. Finally, the efficacy of the proposal composite control
strategy is examined and verified by intensive computer simulations.
Keywords
Composite control, multiple-time-scale system, overhead hoist transport
Received: 13 September 2009; accepted: 9 April 2011
1. Introduction
The semiconductor fabrication is one of the most signif-
icant industries. Highly complicated production facilities
with various processes are involved. The semi-nished
products have to be transported backwards/forwards
among stations in the factory. For example, a stack of
300 mm wafers is transported approximately from 8 to
10 miles during the processing and typically about 250
fabrication procedures have to be undertaken before
nished goods are completed (Agrawal and Heragu,
2006). It is evident that the transport system in semicon-
ductor industries is one of the crucial factors for the
quality of the products. Besides, due to the high cost of
wafers, manual transport is not practicable at all such
that a highly reliable wafer transport systemis intensively
required. However, the commercially-available Overhead
Hoist Transport (OHT) unit, which is currently employed
in industries, is not equipped with an active suspension
controller so that fragile material (e.g., wafers) suers
from potential damage due to collision or collapse
(Chung and Jang, 2007; Kuo, 2002; Liao and Wang,
2006).
In general, the conventional OHT is a type of pendu-
lum so that it is inherently less eligible for high speed
transportation with auto-swaying (Jerman and Kramar,
2008; Jerman et al., 2004). That is, though it is easy to
use, there are a few inherent drawbacks, such as swaying
Department of Mechanical Engineering, National Cheng Kung University,
Taiwan
Corresponding author:
Nan-Chyuan Tsai, Department of Mechanical Engineering, National
Cheng Kung University, Tainan City 70101, Taiwan
Email: nortren@mail.ncku.edu.tw
Journal of Vibration and Control
18(8) 10811095
! The Author(s) 2011
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DOI: 10.1177/1077546311410762
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and the collision and collapse of piled-up carried load. In
order to prevent those threats, an innovative triplet of
double-link arm is proposed to be equipped with
the OHT unit in our work. Compared with the conven-
tional OHT, the proposed OHT unit possesses a certain
degree of superior properties, such as eligibility for high
traveling speed, adjustable stiness and capability of
anti-sway and anti-uncertainty.
The singular perturbation theory is usually employed
to deal with the plant with the presence of parasitic
parameters. By a singular perturbation approach, the
system model can be split into two lower-order subsys-
tems in two time scales (Kokotovic et al., 1987). For
example, the quarter-car suspension system is usually
analyzed by a two-time-scale model (Salman et al.,
1988). In addition, the electric power systemcan be some-
how converted to a generator voltage regulator by a sin-
gular perturbation method (Vournas et al., 1995). As to
automation, exible robot links have often been studied
by a perturbation technique (Ge and Cheng, 2005; Khalil
and Kokotovic 1979; Ladde and Siljak, 1983; Prljaca and
Gajic, 2008; Rasmussen and Alleyne, 2004; Shtessel and
Shkolnikov, 2003; Shtessel et al., 2002; Spong, 1989; Tsai
et al., 2007).
Although the system dynamics of the OHT system is
highly nonlinear and of a high-order, by a singular per-
turbation technique, the system model can be split into
three subsystems in three time scales, i.e., slow-mode
subsystem, intermediate-mode subsystem and fast-
mode subsystem. The order-reduced models are simpli-
ed but the characteristics of the fast-mode subsystem
are preserved to some extent so that the controller
synthesis becomes simpler. A composite controller, com-
posed of the Sliding Mode Control (SMC) loop and
input shaping technique, is proposed in this paper. The
SMC is synthesized, on the basis of a slow-time-scale
model, to account for the system parameters uncertain-
ties and to regulate the position of carried load. On the
other hand, the input shaping technique is developed, on
the basis of the intermediate-time-scale model, tosuppress
the residual vibration. That is, the anti-sway controller is
implemented by the input shaping technique which pro-
vides a sequence of impulse inappropriate amplitudes and
time epoch. Finally, the ecacyof the proposal composite
control strategy is examined and veried by computer
simulations.
Innovative design and dynamic
analysis of OHT
The proposed OHT mainly consists of a trolley, a set of
DC (Direct Current) motors, three rigid links and three
exible links, shown in Figure 1. The OHT is equipped
with a triplet of double-link arms to carry the load. The
motions of double-link arms are controlled by the set of
DC motors. Evidently, the OHT is a mechatronic
system composed by an electric subsystem and a
mechanical subsystem. Both the dynamics of electric
and mechanical subsystems are modeled to describe
precisely the dynamics of the OHT. At last, the
Multiple-time-scale (MTS) property is applied for
order-reduction and controller synthesis.
2.1. Description of OHT
The schematic diagram of the proposed overhead crane
system, hereafter named as OHT, is depicted in
Figure 1. The mass of cargo to be carried forward/back-
ward between two stations in a factory is denoted as m
c
.
Instead of passive cables equipped conventionally, a
triplet of double-link arms is facilitated with the OHT
to carry the load. Each double-link arm is composed
of two links, which are connected by pin-joint, and
named as a manipulator in this paper. The upper link
of each arm, R
i
, is assumed rigid and controlled by a
DC motor so that each rigid link can actively move in
planar fashion. It is noted that the three rigid links
together can dominate any 3-dimensional movement
of the carried load within the specied boundary con-
structed by the three manipulators. The lower link of
each arm, F
i
, is exible and controlled by the associated
rigid link so that the load, m
c
, can be prevented from
any potential shock, unexpected tilting or high-fre-
quency excitation, especially if it is considerably fragile.
The i
th
drive motor is attached and xed to the OHT
at location A
i
, specied by the actuator coordinate,
Figure 1. Schematic diagram of the OHT system.
1082 Journal of Vibration and Control 18(8)
X
ai
x
ai
y
a i
z
ai
_ _
T
, i 1, 2, 3, with respect to the
inertial reference frame fX, Y, Zg, shown in Figure 2.
The center of the triangle constituted by A
1
, A
2
,
A
3
,O, is the origin of the actuator frame. Assume
the pin joints for the rigid links and exible links, J
i
,
are frictionless. The displacement vector of the load is
X
c
x
c
y
c
z
c
_ _
T
with respect to inertial reference
frame. The constrained planar displacement of manip-
ulators are dened and shown in Figure 3. The
coordinates X
0
, Y
0
, Z
0
f g and X
00
, Y
00
, Z
00
f g are the inter-
mediate coordinates whose origins are located on A
i
and J
i
(i.e., the top ends of i
th
rigid link and i
th
exible
link) respectively. X, X
0
and X
00
are along the track of
the OHT while Z, Z
0
and Z
00
are always the vertical
axes. Both of the rigid links R
1
and R
2
are constrained
to retain a constant angle, [, with respect to the coor-
dinate plane X
0
, Y
0
f g, shown in Figure 3(a).On the other
hand,
i
is the component of angular displacement of
R
i
i 1, 2 about Y
0
-axis. Similarly,
i
i 1, 2 is the
component of angular displacement of the undeformed
exible links about Y
00
-axis. The motion of rigid link,
R
3
, is constrained on the plane, X
0
, Z
0
f g, shown in
Figure 3(b).
3
and
3
are the angular displacements
of rigid link and undeformed exible link of the
Manipulator #3 about X
0
-axis and X
00
-axis respectively.
The elastic deformations of the exible links of manip-
ulators are expressed with respect to the coordinate,
x
0
, y
0
, z
0
_ _
, whose origin is J
i
i 1, 2 , shown in
Figure 4. In nite-mode sense, the deformations of the
exible links can be described as follows:
v
y
0
i
s, t
n
j1
y
0
j
s
i
q
y
0
i j
t, i 1, 2, 3. 1a
v
z
0
i
s, t
n
j1
z
0
j
s
i
q
z
0
i j
t, i 1, 2, 3. 1b
where
y
0
j
s
i
and
z
0
j
s
i
are the mode shape functions
about y
0
-axis and z
0
-axis respectively. q
y
0
i j
t and
q
z
0
i j
t are the generalized coordinates in time vari-
able. s
i
2 0, l
2
is the axial position along the exible
links while n is the number of modes and t denotes
the time variable. With the boundary conditions sat-
ised, the normalized shape functions can be found:
j
s
i
sin
j
l
2
s
i
_ _
, i 1, 2, 3, j 1, . . . , n, 2
where l
2
is the length of individual exible link before
any deformation or elongation occurs.
2.2. Dynamics of Mechanical Subsystem
From the geometric relation among the proposed
manipulators, the linear displacement of the carried
load, which is assumed as a lumped rigid-body mass,
can be described from the geometric relation of
Manipulator #3 as follows:
x
c
y
c
z
c
_
_
_
_

cos
3
cos
3
0 0
sin
3
sin
3
_
_
_
_
l
1
l
2
_ _
x
a 3
y
a 3
z
a 3
_
_
_
_
3
Figure 3. Schematic diagram of the manipulators (a) links R
1
and link R
2
(b) link R
3.
.
Figure 2. Allocation of drive motors (a) top view (b) side view.
Figure 4. Deformations of manipulators #1 and #2.
Tsai et al. 1083
where l
1
is the length of individual rigid link. Then the
absolute velocity of carried load, V
m
c
, can be evaluated
as follows:
V
m
c
V
m
c
,T
o
M
_ x
c
^
i _ y
c
^
j _ z
c
^
k
_ _
x
^
i
_
y
^
j
_ _
x
c
^
i y
c
^
j z
c
^
k
_ _
_ x
^
i _ x
c
z
c
_
y
_ x
_ _
^
i
_ y
c
z
c
_
x
_ _
^
j _ z
c
y
c
_
x
x
c
_
y
_ _
^
k 4
where V
m
c
,T
is the relative velocity of carried load
with respect to the trolley, o
the angular velocity of

carried load, V
M
the velocity of trolley and x the dis-
placement of trolley in X-axis.
x
and
y
are the sway
angles of carried load about X-axis and Y-axis respec-
tively, shown in Figure 5. In fact,
x
,
y
_ _
can be
described by the location of carried load as follows:
x
sin
1
z
c
y
2
c
z
2
c
_
_ _
5a
y
sin
1
z
c
x
2
c
z
2
c
_
_ _
5b
Taking advantage of the three exible links sepa-
rated 120 degree orderly against the carried load, the
net moment on the carried load about Z-axis is almost
zero by adjustment of the exible links positions. That
is, the carried load does not rotate about Z-axis.
Therefore, the total kinetic energy of manipulators
and trolley can be evaluated by:
T
1
2
2
i1
_
l
1
0
,
1
_ r
T
o i
_ r
o i
ds
o i

1
2
2
i1
_
l
2
0
,
2
_ r
T
f i
_ r
f i
ds
f i
1
2
_
l
1
0
,
1
_ r
T
o3
_ r
o3
ds
o3

1
2
_
l
2
0
,
2
_ r
T
f3
_ r
f3
ds
f3
1
2
M 3,
1
l
1
3,
2
l
2
_ x
2
1
2
m
c

V
2
m
c
6
where ,
1
and ,
2
are the mass density (in length) of rigid
links and exible links respectively. r
o i
is the displace-
ment vector of the rigid link, R
i
, i 1, 2. That is:
r
oi

sin
i
cos [ cos
i
cos [ sin[
cos
i
sin
i
0
sin
i
sin[ cos
i
sin[ cos [
_
_
_
_
_
s
oi
0
0
_
_
_
_
_
x
0
0
_
_
_
_
_,
s
oi
2 0, l
1
i 1, 2. 7
r
o 3
is the displacement vector of rigid link R
3
:
r
o 3

cos
3
sin
3
0
0 0 1
sin
3
cos
3
0
_
_
_
_
_
s
o 3
0
0
_
_
_
_
_
x
0
0
_
_
_
_
_,
s
o 3
2 0, l
1
. 8
r
f i
is the displacement vector of the exible links,
F
i
, i 1, 2. That is:
r
f i

sin
i
cos [ cos
i
cos [ sin[
cos
i
sin
i
0
sin
i
sin[ cos
i
sin[ cos [
_
_
_
_
_
l
1
0
0
_
_
_
_
_
x
0
0
_
_
_
_
sin
i
cos [ cos
i
cos [ sin[
cos
i
sin
i
0
sin
i
sin[ cos
i
sin[ cos [
_
_
_
_
_
s
f i
v
y
0
i
v
z
0
i
_
_
_
_
_,
s
f i
2 0, l
2
, i 1, 2. 9
r
f 3
is the displacement vector of exible link F
3
:
r
f3

cos
3
sin
3
0
0 0 1
sin
3
cos
3
0
_
_
_
_
_
l
1
0
0
_
_
_
_
_
x
0
0
_
_
_
_
cos
3
sin
3
0
0 0 1
sin
3
cos
3
0
_
_
_
_
_
s
f i
v
y
0
i
v
z
0
i
_
_
_
_
_, s
f i
2 0, l
2
.
10
On the other hand, the overall potential energy of
manipulators, with respect to the origin of the actuator
Figure 5. Schematic diagram of swaying load.
frame, O, can be expressed as:
V
2
i1
1
2
_
l
2
0
EI v
00
y
0
i
2 v
00
z
0
i
2
_ _
ds
2 i
m
c
g z
c
2
i1
_
l
1
0
,
1
g r
z
o i
ds
o i

_
l
1
0
,
1
g r
z
o3
ds
o3
2
i1
_
l
2
0
,
2
g r
z
f i
ds
f i

_
l
2
0
,
2
g r
z
f 3
ds
f 3
11
where E and I are the Youngs modulus and moment of
inertia of exible links respectively and g denotes
the gravitation constant. r
z
o i
, r
z
o3
, r
z
f i
and r
z
f 3
represent
the Z-axis components of r
o i
, r
o 3
, r
f i
and r
f 3
respec-
tively i 1, 2 and can be described as follows:
r
z
o i
s
f i
sin
i
sin[ 12a
r
z
o 3
s
o 3
sin
3
12b
r
z
f i
l
1
sin
i
sin [ s
f i
sin
i
sin [ v
y
0
i
cos
i
sin [ v
z
0
i
cos [ 12c
r
z
f 3
l
1
sin
3
s
f 3
sin
3
v
y
0
i
sin
3
12d
Assume HX 0 is the constraint equation in
vector form:
HX h
1
h
2
h
3
h
4
h
5
h
6
h
7
h
8
h
9
h
10
h
11
T
0
_
13
where the scalar constraint equations, h
i
0, i 1,
2, , 11, can be referred to Appendix A for more
details. Finally, by Lagrangian multiplier approach, the
integrated equations of motion in matrix-vector formfor
manipulators and trolley can be obtained as follows:
M q
r
, q
f
_ _ q
r
q
f
_ _
0 0
0 K
_ _
q
r
q
f
_ _
f
r
q
r
, _ q
r

f
f
q
r
, _ q
r

_ _
g
r
q
r
, _ q
r
, q
f
, _ q
f

0
_ _

U
0
_ _
A
T
r
0
_ _
l 14
where M is symmetric inertia matrix, q
r
2 R
12
the state
vector of rigid links, q
f
2 R
6n
the state vector of exible
links, U 2 R
12
the applied torque by motors, l the
Lagrangian multiplier vector, f
r
, f
f
and g
r
are the terms
due to gravity, Coriolis and centripetal forces. It is noted
that both f
r
and f
f
are independent of _ q
f
. Kis the stiness
matrix and A
r
the constraint matrix.Denitions of M, f
r
,
f
f
, g
r
, K, U and A
r
can be referred to Appendix B for
more details. The inertia matrix, M, is to incorporate all
the mass properties of the whole OHT. The quadratic
form associated with the inertia matrix of the OHT rep-
resents the kinetic energy. Kinetic energy is always
strictly positive unless the system is at rest (Asada and
Slotine, 1986).Therefore, the inertia matrix is assumed to
be positive denite. It is noted that the entries of inertia
matrix, i.e., equation (B.7), are time-varying. In other
words, the inertia matrix is structure-conguration-
dependent and reects the instantaneous overall mass
properties of OHT.
2.3. Dynamics of electric subsystem
The armature-controlled DC motors are employed to
regulate the angular displacements of rigid links in our
work. The eects of magnetic ux leakage, hysteresis
and fringing eect are all ignored.In addition, assume
the inductance and resistances of all the three armature
circuits of drive motors are identical. Therefore, the
dynamics of the individual armature circuit for any
drive motor can be described as:
L
a
di
a
dt
R
a
i
a
K
B
_ q
r
e
a
15
where L
a
diag L
k
_ _
, R
a
diag R
k
_ _
and K
B

diag K
k
b
_ _
0
39
_ _
. The superscript, k 1, 2, 3,
denotes the k
t h
drive motor. L
k
is the inductance of
the armature, R
k
the resistance of the armature, K
k
b
the electric constant, i
a
i
1
i
2
i
3

T
the armature
current and e
a
e
1
e
2
e
3

T
the applied armature
voltage. The torque generated by the drive motor can
be described as:
t K
T
i
a
16
where K
T
diag K
k
t
_ _
, k 1, 2, 3, and K
k
t
is the torque
constant.
2.4. Dynamics of OHT
Since the rigid links are controlled by the drive motors,
the equations of motion of the OHT can be established
as follows:
M q
r
, q
f
_ _ q
r
q
f
_ _
f
r
q
r
, _ q
r

f
f
q
r
, _ q
r

_ _
g
r
q
r
, _ q
r
, q
f
, _ q
f
_ _
0
_ _
0 0
0 K
_ _
q
r
q
f
_ _

U
a
0
_ _
A
T
r
0
_ _
l 17a
L
a
di
a
dt
R
a
i
a
K
B
_ q
r
e
a
17b
_
_
where U
a
K
T
i
a
0
19
_ _
T
. In general, the free
response of the electrical systems is much faster than
that of the mechanical systems. On the other hand, the
Tsai et al. 1085
major time constant of the electrical subsystems is much
smaller than any of the mechanical subsystems. In addi-
tion, for the rigid-exible pin-joined mechanical system,
the natural frequency of the rigid link is usually much
smaller than that of the rst mode of the exible link.
In other words, the rigid mode and exible modes exhi-
bit in fairly distinct time scales. That is, the proposal
OHT possesses the MTS property for it is composed of
electric (fast mode), rigid (slow mode) and exible
(intermediate mode) mechanical subsystems. For the
sake of controller synthesis, a simple linearized mathe-
matic model is generally required. Since the OHT is an
MTS system, the coupled and nonlinear dynamic
model in equation (17) can be further simplied by a
singular perturbation technique addressed in next
section.
3. Reduced model of OHT
Since the physical value of the inductance of the arma-
ture at drive motors is much smaller than that of any
other system parameters, the rst singular perturbation
parameter can be dened as c
1
L
a
.Therefore, equation
(17) can be rewritten as follows:
M q
r
, q
f
_ _ q
r
q
f
_ _
f
r
q
r
, _ q
r
f
f
q
r
, _ q
r
_ _
g
r
q
r
, _ q
r
, q
f
, _ q
f
_ _
0
_ _
0 0
0 K
_ _
q
r
q
f
_ _

U
a
0
_ _
A
T
r
0
_ _
l 18a
c
1
di
a
dt
R
a
i
a
K
B
_ q
r
e
a
18b
_
_
By setting c
1
0 and substituting equation (18b)
into equation (18a), then the mechanical subsystem
with synergistic electrical subsystem can be obtained
as follows:
M ~ q
r
, ~ q
f
_ _

~ q
r
~ q
f
_ _
f
r
~ q
r
,
_
~ q
r
_ _
f
f
~ q
r
,
_
~ q
r
_ _
_
_
_
_
_
g
r
~ q
r
,
_
~ q
r
, ~ q
f
,
_
~ q
f
_ _
0
_ _
0 0
0 K
_ _
~ q
r
~ q
f
_ _

~
U
a
0
_ _
~
A
T
r
0
_ _
l 19
where ~ q
r
q
r
q
r f
and ~ q
f
q
f
q
f f
represent the new
state vectors for rigid-mode and exible-mode links
respectively. For order-reduction method to be under-
taken, q
r f
and q
f f
are the fast-time-scale components of
the original state vectors (i.e., q
r
and q
f
) for rigid-mode
and exible-mode links respectively.
~
U
a
U
a
U
f
is
the primary control input by excluding the fast-time-
scale component, U
f
, of the control input vector U
a
.
Since the electrical subsystem (i.e., R-L circuit) is inher-
ently a stable system, in fact the fast component of the
control (to be synthesized later) is not required any
more. That is U
f
0. It is noted that the 5
th
-order
mathematic model in equation (18) is reduced to 4
th
-
order in equation (19). By separation of slow and inter-
mediate modes, equation (19) can be rewritten as
follows:
~ q
r
G
r r
f
r
~ q
r
,
_
~ q
r
_ _
g
r
~ q
r
,
_
~ q
r
, ~ q
f
,
_
~ q
f
_ _
~
A
T
r
l
_ _
G
r f
f
f
~ q
r
,
_
~ q
r
_ _
G
r f
K ~ q
f
G
r r
~
U
a
20a
~ q
f
G
f r
f
r
~ q
r
,
_
~ q
r
_ _
g
r
~ q
r
,
_
~ q
r
, ~ q
f
,
_
~ q
f
_ _
~
A
T
r
l
_ _
G
f f
f
f
~ q
r
,
_
~ q
r
_ _
G
f f
K ~ q
f
G
f r
~
U
a
20b
_
_
where G is the inverse of inertia matrix, M, such that its
entry G
i, j
, i, j 1, 2, is the submatrix corresponding to
the state vectors ~ q
r
and ~ q
f
respectively, i.e.,
G
G
r r
G
r f
G
f r
G
f f
_ _
21
Dene K EI
"
K
"
K,j, the second singular pertur-
bation parameter c
2

j
p
and ~ q
f
j
"
K
1
, then equa-
tion set (20) can be rewritten as:
~ q
r
G
r r
f
r
~ q
r
,
_
~ q
r
_ _
g
r
~ q
r
,
_
~ q
r
, j
"
K
1
, j
"
K
1
_
_ _ _
~
A
T
r
l
_
G
r f
f
f
~ q
r
,
_
~ q
r
_ _
G
r f
G
r r
~
U
a
22a
j
"
K
1
G
f r
f
r
~ q
r
,
_
~ q
r
_ _ _
g
r
~ q
r
,
_
~ q
r
, j
"
K
1
, j
"
K
1
_
_ _
~
A
T
r
l
_
G
f f
f
f
~ q
r
,
_
~ q
r
_ _
G
f f
G
f r
~
U
a
22b
_
_
By setting j c
2
2
0 in equation (22b), the displace-
ment vector, " , for slow mode contributed by exible
links can be obtained as follows:
" G
1
f f
G
f r
f
r
" q
r
,
_
" q
r
_ _
g
r
" q
r
,
_
" q
r
, 0, 0
_ _
"
A
T
r
l
_ _ _
G
f f
f
f
" q
r
,
_
" q
r
_ _
G
f r
"
U
_
23
By substituting equation (23) into equation (22a),
the dynamic of the slow-mode subsystem can be
obtained as:
M
r
" q
r
, 0

" q
r
f
r
" q
r
,
_
" q
r
_ _
g
r
" q
r
,
_
" q
r
, 0, 0
_ _
"
A
T
r
l U
s
24
where M
r
is the inertia matrix of rigid links, whose
dimension is corresponding to the state vector q
r
. " q
r
and U
s
are the slow-mode components of state vector
q
r
and control vector U
a
respectively. It is noted that
the 4
th
-order mathematic model in equation (21) is
further reduced to 2
nd
-order in equation (23). These
two order reductions are using the same approach:
singular perturbation technique.
Dene 0
1

"
K
1
and 0
2
c
2
"
K
1
_ , then equation
(22b) can be further split into two subsystems:
c
2
_
0
1
0
2
25a
c
2
_
0
2
G
f r
f
r
g
r

~
A
T
r
l
_ _
G
f f
f
f
G
f f
"
K0
1
G
f r
~
U
a
_
_
25b
To nd the intermediate-mode subsystem, the slow-
mode time scale is stretched by c
2
, i.e., k t,c
2
and two
new state vectors are introduced as follows:
j
1
0
1

"
K
1
" 26a
j
2
0
2
26b
By substituting equation (23) and equation set (26)
into equation (25) and setting c
2
0, the mathematic
model of intermediate subsystem leads to:
dj
1
dk
j
2
27a
dj
2
dk
G
f f
"
Kj
1
G
f r
U
m
27b
_
_
where U
m

~
U
a
U
s
.
Since the time constant of the drive motor is much
smaller than that of the manipulators, by singular
perturbation technique (by setting c
1
0), the dynam-
ics of the manipulators with synergistic drive motors
can be order-reduced. Nevertheless, the lower-order
model is constructed without ignoring the dynamics
of the drive motors so that the armature current i
a
is
included in the control vector, U
a
.On the other hand,
due to the presence of the exible modes, the dynamics
of the manipulators possess a certain degree of nonli-
nearity and additional order in the mathematic model.
Once again, the nonlinear dynamic model of manipu-
lators can be further simplied and order-reduced by
singular perturbation technique (by setting c
2
0) so
that the controller synthesis (to be addressed in the next
section) becomes simpler.
The eigenvalues of the nominal open-loop system are
inspected and shown in Figure 6. It is observed from
Figure 6 that the eigenvalues of the nominal open-loop
system can be clustered into three groups, i.e., the
eigenvalues of rigid-mode mechanical subsystem, ex-
ible-mode mechanical subsystem and electric subsys-
tem. Since there are six marginal poles along the
imaginary axis of the complex plane in addition to
the other stable poles, the system is marginally stable.
This implies that the OHT system is most likely to oscil-
late back and forth (i.e., in harmonic motion) if no any
anti-sway control loop is employed. This is why the
anti-sway control component (to be addressed and
synthesized in the next section) is absolutely required.
4. Composite control
Due to a variety of operation conditions, such as accel-
eration or brake of the trolley, loading/unloading and
mass eccentricity, a few system parameters of the OHT
are uncertain and might be nonlinear. From the view-
point of vibration, the OHT has marginal poles so that
the carried load suers from periodic swaying.
Therefore, the composite controller is basically synthe-
sized by integration of the SMC and input shaping
technique. The SMC is inherently, to some extent,
robust to account for system uncertainties while the
input shaping technique is used for anti-swaying. By
the two reduced-order subsystems in equation (24)
and equation (27), a composite control law can be syn-
thesized for the studied OHT in equation set (17).
4.1. Smc for slow-mode dynamics
Dene two new variables,
1
" q
r
and
2

_
" q
r
. Then the
slow-mode model, equation (24), can be converted into
a compact form as follows:
_
C N
1
,
2
QU
s
28
where
C
T

1

2
_ _
29a
Figure 6. Clusters for eigenvalues of nominal OHT unit.
Tsai et al. 1087
N

2
M
1
r
f
r
g
r

"
A
T
r
l
_ _
_ _
29b
Q
0
M
1
r
_ _
29c
For SMC design (Tsai and Wu, 2008; Tsai, Huang
and Chiang, 2009), the sliding hyperplane is dened as
follows:
S P C 0 30
where P is a positive denite matrix. At sliding mode in
which sliding hyperplane is unchanged with respect to
time, i.e.,
_
S
oP
oC
oC
ot
0 31
so that the equivalent control (rst component of
SMC), to bring the OHT back to the equilibrium, can
be easily obtained as:
U
s e

oP
oC
Q
_ _
1
oP
oC
N 32
Mainly to account for the system parameters uncer-
tainties, the switch control (second component of
SMC), U
s n
, is designed to meet the Reaching
Condition:
_
SS50.
U
s n

oP
oC
Q
_ _
1
o N
UB
Sat S,o 33
where o is positive denite and named as the reaching
factor. The condition N
"
N
_
_
_
_
N
UB
is established to
dene the maximum estimated uncertainty of the
system parameters with respect to the nominal system
matrix of the slow-mode subsystem,
"
N. Sat is the
saturation function, which is introduced to prevent
severe chattering as the SMC is engaged. o denotes
the boundary layer thickness. That is,
Sat
S
o
_ _

S
o
,
S
o
1
Sgn S , otherwise
_
34
where Sgn is Signum function. Therefore, the anti-
uncertainty component of composite control (i.e.,
SMC) can be obtained:
U
s
U
s e
U
s n
35
4.2. Input Shaping Technique for
Intermediate-mode Dynamics
In general, the deformation of exible link is a rela-
tively small and the amplitude of the rst exible
mode can be regarded to approximate the vibration
of the exible links. Hence equation set (27) can be
rewritten as follows:
d
2
j
1
dk
2
G
f f
"
Kj
1
G
f r
U
m
36
where U
m
is the intermediate-mode component of con-
trol vector. The intermediate-mode system response
based on equation (36) due to an impulse input can
be described as follows (Singer and Seering, 1990):
y
m
k A
m
o
0
1
2
_ e
o
0
kk
0

_ _
sin o
0
1
2
_
k k
0

37
where A
m
is the amplitude of the impulse, o
0
the
undamped natural frequency of the intermediate-
mode subsystem and the damping ratio of the
intermediate-mode subsystem. k and k
0
denote the
time variable and the time instant of the impulse
exerted. The amplitude of vibration of the exible
links for a multi-impulse input sequence, which is
applied to account for inherent swaying of OHT, is
given by (Singer and Seering, 1990):
A
amp

N
i
j1
B
j
cos u
j
_ _
2
N
i
j1
B
j
sin u
j
_ _
2
_
38a
where
B
j

A
j
o
0
1
2
_ e
o
0
k
N
i
k
j
38b
u
j
o
0
1
2
_
k
j
38c
B
j
is the coecient of the sine term in equation (37),
corresponding to the N
i
th impulse input, A
j
the
amplitude of the N
i
th impulse, k
j
the time instant
at which the impulse is applied and k
N
i
the time instant
at which the N
i
th sequence has just emigrated. To
suppress the vibration of OHT, A
amp
has to be zero
after the time instant at which the input sequence has
emigrated.That is, both squared terms in equation (38a)
have to be vanished and hence referred to as the Zero
Vibration (ZV) constraints:
N
i
j1
A
j
e
o
0
k
N
i
k
j
sin o
0
1
2
_
k
j
_ _
0 39a
N
i
j1
A
j
e
o
0
k
N
i
k
j
cos o
0
1
2
_
k
j
_ _
0 39b
For a single-mode system, two impulses can be
employed to completely suppress the system vibration
in a very short period, as illustrated in Figure 7.
However, the natural frequencies of the OHT studied
in our work are position-dependent and multiple. In
order to improve the robustness of the anti-sway con-
trol, an additional set of constraint equations is
included. By dierentiating equation (39) with respect
to natural frequency, o
0
, and setting it to be zero, it
leads to:
N
i
j1
A
j
k
j
e
o
0
k
N
i
k
j
cos o
0
1
2
_
k
j
_ _
0 40a
N
i
j1
A
j
k
j
e
o
0
k
N
i
k
j
sin o
0
1
2
_
k
j
_ _
0 40b
equation (40) is referred to Zero Vibration
Derivative (ZVD) constraint. Therefore, the impulse
inputs for drive motors, i.e., the anti-sway control,
can be obtained as:
U
m

N
i
j1
A
1 j
k

N
i
j1
A
2 j
k

N
i
j1
A
3 j
k 0
19
_ _
T
41
where A
i j
, i 1, 2, 3, is the amplitude of impulse at
time instant k k
j
and it has to meet the constraint
equations, i.e., equation set (39) and equation set (40).
Because the OHT is inherent marginally stable and
potentially suered from external disturbance during
the operation mode, the undesired oscillation (for
Figure 8. Schematic diagram of input shaping technique.
Figure 7. System response to (A) two individual impulses (B)
two consecutive impulses. Figure 9. Schematic diagram of composite control.
Tsai et al. 1089
example, response to the rst impulse in Figure 7) of
the OHT is most likely to be present. If the second
impulse (see Figure 7) with an appreciate amplitude is
applied to the system at the right timing, the vibration
induced by the rst impulse can be completely sup-
pressed. In order to describe how the anti-swaying con-
trol is synthesized, the schematic diagram of input
shaping technique is shown in Figure 8. A tilt sensor
is used to provide the actual swaying angle of the car-
ried load. The required applied amplitudes and timing
of the input shaper are calculated by equation set (38)
and equation set (40) respectively.
Briey speaking, the input shaping technique is imple-
mented by convolving the command (to counterbalance
the swaying of the carried load) with a sequence of
impulses. The resultant control (see Figure 8(c)) is
named as the intermediate-mode control component to
discriminate against the slow-mode control component
stated in section 4.1.
4.3. Composite control law
Combining the slow-mode control component, i.e.,
equation (35), and the intermediate-mode control com-
ponent, i.e., equation (41), the composite control for
the OHT system can be obtained as follows:
U
a
U
s
U
m
42
The schematic diagram of the control strategy is
illustrated in Figure 9. The errors between the com-
mands and the displacements of rigid links are provided
Figure 12. Position deviation regulation under composite
control.
Figure 11. Position deviations of carried load under SMC.
Figure 10. Acceleration and velocity profiles for trolley.
Table 1. Physical parameter values for overhead crane system
Mass of trolley 20 Kg
Mass of payload 10 Kg
Length of rigid links 0.3 m
Length of flexible links 0.3 m
Mass per length of rigid links 10 Kg/m
Mass per length of flexible links 5 Kg/m
Stiffness of flexible links 0.001 N-m
2
to the slow-mode controller to generate the driving
torque at the DC motors to follow the desired motion
trajectory (i.e., the low-frequency portion). Once the
vibration of the carried load is induced by the margin-
ally stable property of the OHT itself or an external
disturbance, the control sequences by the intermedi-
ate-mode controller are generated for vibration attenu-
ation (i.e., high-frequency portion).Finally, two control
inputs are integrated to constitute the composite
control. It is noted that once the swaying of the carried
load is completely suppressed, the intermediate-mode
control component vanishes. By singular perturbation
technologies, the complicated dynamic model of the
OHT can be simplied and its order is reduced. Based
on the reduced linear dynamic model, the composite
controller can be easily synthesized for dual purposes:
anti-sway and anti-uncertainty.
5. Simulations and discussions
The physical parameter values of the proposed OHT
are listed in Table 1. The acceleration and velocity
proles for trolley are illustrated in Figure 10. The
acceleration of trolley is increased to 10 m/s
2
from rest
within 0.1 sec. From 0.1 sec to 0.2 sec, the acceleration
10 m/s
2
is retained. At the time instant, 0.2 sec, the
acceleration of trolley starts to be decreased to step
within 0.1 sec. Based on the acceleration prole, the
velocity of trolley is increased to 2 m/s within 0.3 sec.
The position deviation of the carried load under SMC
is shown in Figure 11. The position of the load can be
regulated to the vicinity of the equilibrium in 0.1 sec but
the residual vibration is still present. On the other hand,
the composite control, which is composed by SMC and
ASC (Anti-sway Control), is employed to be compared.
The position deviation regulation on the carried load
under composite control is shown in Figure 12. The
residual vibration is successfully suppressed in 0.6 sec.
On the other hand, it is noted that the aforesaid model
is valid only under the assumption that the parameters
of the OHT models are known beforehand, such as the
mass of the carried load, the moments of inertia of links
and the positions of joints etc. However, some param-
eters of the OHT changes during operation mode and
are not always known prior to controller synthesis. For
example, some of the motors parameters and the coe-
cients of viscous and the static frictions are slowly-vary-
ing. These parameters are altered very slowly so that they
are usually considered as constants by most traditional
approaches. Therefore, the robustness against the uncer-
tainties of the system parameters is hereby examined.
Assume the system stiness varies up by 20%, the posi-
tion deviation regulation under the proposed control law
is shown in Figure 13. It is obviously observed that the
proposed control law exhibits its robustness, to some
extent, with respect to the parameters uncertainties. In
addition, since the semi-nished products have to be
transported backwards/forwards between stations in
the factory, it has to avoid unexpected collision. As an
illustrative example, the position deviation regulation
under an abrupt impulsive disturbance to the OHT is
shown in Figure 14. The OHT is disturbed at the time
instant, t 10 sec. The position deviations of the carried
load are regulated to the equilibriumpoint after 0.05 sec.
Figure 14. Position deviation regulation of OHT under
disturbance.
Figure 13. Position deviation regulation of OHT under para-
metric uncertainties.
Tsai et al. 1091
By computer simulations, it is veried that the composite
control exhibits superior anti-sway capability and
robustness to account for system parameters uncertain-
ties and external disturbances.
As to the hardware implementation, in addition to
DC motors, servo-motors are relatively straightforward
to be controlled by digital computers. The angular posi-
tions of the links are measured by using rotary encoders
attached to the motors. The encoder signals are fed
back to the controller through a digital I/O (Input/
Output) board. The angular velocities can be obtained
numerically from the position signals (Burden and
Faires, 2005). The desired torque is estimated from
the desired trajectories and the feedback signals, i.e.,
the angular positions of the links. The torque of the
motors is controlled by the applied currents through
D/A (Digital to Analog) converter.
The trolley and the carried load both move along the
track. The errors between the desired trajectories of
links and the feedback signals are fed to the controller
to regulate the position deviation of the carried load.
Once the swaying is caused by the inherent marginal
poles or the external disturbances, the required impulse
sequence in order to attenuate the undesired swaying
can be real-time synthesized by the proposed controller.
That is, the anti-sway and anti-uncertainty are expected
to be both accomplished by the proposed composite
controller.
6. Conclusions
The composite control, composed of the SMC and
input shaping technique, is synthesized for anti-sway
and anti-uncertainties of the parameters of the OHT
system. Since the OHT system inherently possesses
the marginal poles at origin of the complex plane, the
auto-swaying property, like a pendulum, is fairly evi-
dent in the transportation system in factories. The input
shaping technique is thus employed to suppress auto-
swaying by exerting a sequence of impulses in appro-
priate amplitude and time epoch. In addition, the
system matrix of the OHT system is position-depen-
dent, instead of being constant, so that a certain
degree of uncertainty for the system parameters is pre-
sent. This is the reason why SMC is included in the
composite control strategy.
Unlike the traditional method to equip two or three
passive cables with the OHT unit, the proposed
OHT system is facilitated by a triplet of double-link
arm and a set of DC motors so that the carried load
can be protected from shock, tilt or high-frequency
excitation. However, the novel OHT module then
becomes a three-time-scale system which consists of
slow-mode (rigid links), intermediate mode (exible
links) and fast-mode (DC motors) subsystems. By
singular perturbation technique, the reduce-order
model of the OHT system is established for the synthe-
sis of composite controller.At last, the ecacy of com-
posite control, to suppress auto-swaying and account
for system parameters, is veried by intensive computer
simulations.
Funding
This research was supported by National Science Council
(Taiwan) under Grant NSC99-2622-E-006-008-CC2. The
authors would like to express their appreciation.
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Appendix A
The holonomic constraint equations in equation (13) can be
described as follows:
h
1
x
a1
l
1
sin
1
cos [ l
2
sin
1
cos [ x
c
0 A.1
h
2
y
a1
l
1
cos
1
l
2
cos
1
y
c
0 A.2
h
3
l
1
sin
1
sin [ l
2
sin
1
sin[ z
c
0 A.3
h
4
x
a2
l
1
sin
2
cos [ l
2
sin
2
cos [ x
c
0
A.4
h
5
y
a2
l
1
cos
2
l
2
cos
2
y
c
0 A.5
h
6
l
1
sin
2
cos [ l
2
sin
2
cos [ z
c
0 A.6
h
7
x
a3
l
1
cos
3
l
2
sin
3
x
c
0 A.7
h
8
y
a3
y
c
0 A.8
h
9
l
1
sin
3
l
2
sin
3
z
c
0 A.9
h
10
z
c
,
y
2
c
z
2
c
_
sin
x
0 A.10
h
11
z
c
,
x
2
c
2
c
_
sin
y
0 A.11
Appendix B
The generalized coordinate of the manipulators is composed
of the state vector of rigid links, q
r
, and the state vector of
exible links, q
f
, i.e.,
X q
r
q
f
_ _
T
2 R
126n
B.1
where
q
r
X
c
_ _
T
,
1

2

3
_ _
T
,

1

2

3
_ _
T
, q
f
q
1f
q
2f
q
3f
_ _
T
q
i f
q
y
00
i 1
q
y
00
i n
q
z
0
i 1
q
z
0
i n
_ _
T
2 R
2n
, i 1, 2, 3.
The generalized force vector is described as follows:
U t 0
19
_ _
T
2 R
12
B.2
where, t t
1
t
2
t
3
_ _
T
is the torque vector.
The constraint matrix is described as follows:
A
r
A
r1
A
r2
A
r3
_ _
2 R
1112
B.3
where
A
r1
l
1
cos
1
cos [ 0 0
sin
1
0 0
cos
1
sin [ 0 0
0 cos
2
cos [ 0
0 sin
2
0
0 cos
2
sin [ 0
0 0 sin
3
0 0 cos
3
_
_
_
_
_
_
_
_
_
_
_
_
_
_
B.4a
A
r2
l
2
cos
1
cos [ 0 0
sin
1
0 0
cos
1
sin [ 0 0
0 cos
2
cos [ 0
0 sin
2
0
0 cos
2
sin [ 0
0 0 sin
3
0 0 cos
3
_
_
_
_
_
_
_
_
_
_
_
_
_
_
B.4b
A
r3

1 0 0 0 0
0 1 0 0 0
0 0 1 0 0
1 0 0 0 0
0 1 0 0 0
0 0 1 0 0
1 0 0 0 0
0 0 1 0 0
_
_
_
_
_
_
_
_
_
_
_
_
_
_
B.4c
Tsai et al. 1093
Dene a vector as follows:
o
n
o
n 1
o
n 1
_ _
T
2 R
2n1
B.5
where
o
n1
1 0 1,3 . . .
n
,n
_ _
2 R
n1
B.6a
i

1, if i is odd
0, if i is even
_
B.6b
The inertia matrix in equation (14) can be described as
follows:
M
M
11
M
12
0 M
14
M
15
0
M
T
12
M
22
0 M
24
M
25
0
0 0 M
33
M
34
0 0
M
T
14
M
T
24
M
T
34
M
44
M
45
M
46
M
T
15
M
T
25
0 M
T
45
M
55
0
0 0 0 M
T
46
0 M
66
_
_
_
_
_
_
_
_
_
_
_
_
2 R
126n 126n
B.7
where
M
11

1
3
,
1
l
3
1
,
2
l
2
1
l
2
_ _ 1 0 0
0 1 0
0 0 1
_
_
_
_
_,
M
12

1
2
,
2
l
1
l
2
M
121
0 0
0 M
122
0
0 0 M
123
_
_
_
_
_
B.8a. b
M
14
l
1
0 0 M
141
0 0 M
142
0 0 M
143
_
_
_
_
_,
M
15
,
2
l
1
l
2
M
151
0 0
0 M
152
0
0 0 M
153
_
_
_
_
_
B.8c. d
M
22
,
2
l
2
M
221
0 0
0 M
222
0
0 0 M
223
_
_
_
_
_,
M
33

m
c
0 0
0 m
c
0
0 0 m
c
_
_
_
_
_
B.8e. f
M
24
,
2
l
2
0 0 M
241
0 0 M
242
0 0 M
243
_
_
_
_
_,
M
25

2
,
2
l
2
2
o
T
n
0 0
0 o
T
n
0
0 0 o
T
n
_
_
_
_
_
B.8g. h
M
34

0 m
c
z
c
m
c
m
c
z
c
0 0
m
c
y
c
m
c
x
c
0
_
_
_
_
_,
M
44

m
c
z
2
c
y
2
c
_ _
m
c
y
c
x
c
0
m
c
y
c
x
c
m
c
z
2
c
x
2
c
_ _
m
c
z
c
0 m
c
z
c
"
M
_
_
_
_
_
B.8i. j
M
45

2
,
2
L
2
0 0 0
0 0 0
M
451
M
452
M
453
_
_
_
_
_,
M
46

0 0 0
0 0 0
2
,
2
l
2
o
T
n
sin [
2
,
2
l
2
o
T
n
sin [ 0
_
_
_
_
_
B.8k. l
M
55
M
66

1
2
,
2
l
2
I
3n
, I
3n
2 R
3n3n
B.8m. n
M
121
l
2
cos
1

1

4
sin
1

1
o
T
n
q
y
0
1
B.9a
M
122
l
2
cos
2

2

4
sin
2

2
o
T
n
q
y
0
2
B.9b
M
123
l
2
cos
3

3

4
sin
3

3
o
T
n
q
y
0
3
B.9c
M
141

1
2
,
1
l
1
cos
1
cos [ ,
2
l
2
cos
1
cos [ B.10a
M
142

1
2
,
1
l
1
cos
2
cos [ ,
2
l
2
cos
2
cos [ B.10b
M
143

1
2
,
1
l
1
sin
3
,
2
l
2
sin
3
B.10c
M
151

2
o
T
n
cos
1

1
, M
152

2
o
T
n
cos
2

2

B.11a. b
M
153

2
o
T
n
cos
3

3
B.11c
M
221

1
3
l
2
2

1
2
q
T
y
0
1
q
y
0
1
, M
222

1
3
l
2
2

1
2
q
T
y
0
2
q
y
0
2
B.12a. b
M
223

1
3
l
2
2

1
2
q
T
3f
q
3f
B.12c
M
241

1
2
l
2
cos
1
cos [
2
sin
1
cos [o
T
n
q
y
0
1
B.13a
M
242

1
2
l
2
cos
2
cos [
2
sin
2
cos [o
T
n
q
y
0
2
B.13b
M
243

1
2
l
2
sin
3

2
cos
3
o
T
n
q
y
0
3
B.13c
"
M M m
c
3 ,
1
l
1
,
2
l
2
B.14
M
451
cos
1
cos [ o
T
n
, M
452
cos
2
cos [ o
T
n
,
M
453
sin
3
o
T
n
B.15a. b. c
The stiness matrix of exible links is:
K

5
2l
4
2
K
f
0 0
0 K
f
0
0 0 K
f
_
_
_
_
, K
f
diag 12
4
. . . n
4
_ _
2 R
1n
,
B.16
f
r
f
r1
f
r2
f
r3
f
r4
_ _
T
B.17
where
f
r1
l
1
f
r11
f
r12
f
r13
_ _
T
B.18
f
r12

1
2
,
2
l
2
2
_
2
2
sin
2

2

1
2
,
1
l
1
g cos
2
sin [
,
2
l
2
g cos
2
sin[
2
,
2
l
2
_
2
2
o
T
n
q
y
0
2
cos
2

2

B.19a
f
r13

1
2
,
2
l
2
2
_
2
3
sin
3

3

1
2
,
1
l
1
g cos
3
,
2
l
2
g cos
3

2
,
2
l
2
_
2
3
o
T
n
q
y
0
3
cos
3

3

B.19b
f
r2
l
2
f
r21
f
r22
f
r23
_ _
T
B.20
f
r21

1
2
,
2
l
1
l
2
_
2
1
sin
1

1

1
2
,
2
l
2
g cos
1
sin [
,
2
l
1
_
2
1
o
T
n
q
y
0
1
cos
1

1
B.21a
f
r22

1
2
,
2
l
1
l
2
_
2
2
sin
2

2

1
2
,
2
l
2
g cos
2
sin[
,
2
l
1
_
2
2
o
T
n
q
y
0
2
cos
2

2
B.21b
f
r23

1
2
,
2
l
1
l
2
_
2
3
sin
3

3

1
2
,
2
l
2
g cos
3
,
2
l
1
_
2
3
o
T
n
q
y
0
3
cos
3

3
B.21c
f
r3
m
c
2_ z
c
_
y

_
x
_
y
y
c
x
c
_
2
y
_
x
_
y
x
c
2
_
x
_ z
c
y
c
_
2
x
2
_
x
y
c
2 _ x
c
_
y
z
c
_
2
x

_
y
_ x g
_ _
_
_
_
_
_
_
B.22
f
r4
m
c
2
_
x
z
c
_ z
c
2
_
x
y
c
_ y
c

_
y
x
c
_ y
c

_
y
y
c
_ x
c
_ z
c
_ x 2
_
y
z
c
_ z
c
2
_
y
x
c
_ x
c

_
x
x
c
_ y
c

_
x
y
c
_ x
c
f
r41
_
_
_
_
B.23
f
r41
,
2
l
2
_
2
1
cos [
1
2
l
2
sin
1

2
cos
1
o
T
n
q
y
0
1
_ _
,
2
l
2
_
2
2
cos [
1
2
l
2
sin
2

2
cos
2
o
T
n
q
y
0
2
_ _
l
1
1
2
,
1
l
1
,
2
l
2
_ _
_
2
1
sin
1
cos [
_
2
2
sin
2
cos [
_
2
3
cos
3
_
,
2
l
2
_
2
3
1
2
l
2
cos
3

2
sin
3
o
T
n
q
y
0
3
_ _
B.24
f
f

2
,
2
l
1
l
2
_
2
1
o
T
n
sin
1

1

1
2
,
2
l
2
_
2
1
q
y
0
1
2
,
2
l
1
l
2
_
2
1
o
T
n
sin
2

2

1
2
,
2
l
2
_
2
2
q
y
0
2
,
2
l
1
l
2
_
2
1
o
T
n
sin
3

3

1
2
,
2
l
2
_
2
3
q
y
0
3
0
31
_
_
_
_
_
_
_
_
B.25
g
r
g
r1
g
r2
g
r3
g
r4

T
B.26
g
r1
,
2
l
1
l
2
1
o
T
n
_ q
y
0
1
sin
1

1

2
o
T
n
_ q
y
0
2
sin
2

2

1
o
T
n
_ q
y
0
3
sin
3

3

_
_
_
_
_,
g
r2
,
2
l
2
q
T
y
0
1
_ q
y
0
1
_
1
q
T
y
0
2
_ q
y
0
2
_
2
q
T
y
0
3
_ q
y
0
3
_
3
_
_
_
_
_
_
B.27a. b
g
r3
0
15
g
r31

T
, g
r4
0 0 0 0 0 0
_ _
T
B.27c. d
g
r31

4
,
2
l
2
_
1
_ q
y
0
1
sin
1
cos [o
T
n

4
,
2
l
2
_
2
_ q
y
0
2
sin
2
cos [o
T
n

4
,
2
l
2
_
3
_ q
y
0
3
cos
3
o
T
n
B.28
Tsai et al. 1095

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