MODELING AN ANTI-SWING CONTROLLER OF AN OVERHEAD CRANE BY USING MATLAB SIMULINK (original) (raw)
Related papers
MODELLING, SIMULATION, ANALYSIS AND CONTROL OF A DOUBLE-PENDULUM OVERHEAD CRANE
UTM INDEXED PAPERS , 2024
The gantry crane system is an overhead crane system with wide applications in many industrial applications. Applications range from harbors to construction and manufacturing sites. The main use of such systems is to move large masses from one location to another accurately and safely with the greatest efficiency. The initial modeling of such a system was based on a single pendulum that was moving the payload mass (load). A more accurate model treats the mass of the hook and the payload differently and with different axes of inclination thus two angles are considered. Such a system is known as a double pendulum overhead crane system (DPOC).[1] In this project we aim to model, simulate and control the double-pendulum overhead crane to observe its response behavior in terms of trolley displacement speed and angle of sway of the hook and the payload. Furthermore, reducing the sway angles of the masses attached to the trolley using an input shaping method that is optimal is also discussed in 4. Open-Loop Control. All of the simulation and verification were done using MATLAB and Simulink for this paper. The paper focuses on mathematical modelling of the non-linear and linear system followed by verification of the models in simulation and then finally implementation of command shaping to achieve minimum oscillation of hook and payloads while maintaining a satisfactory response speed of the trolley.
Simulation Platform for Anti-Swinging Control of Automatic Overhead Cranes
The Remote Handling Laboratory (RHL) of Technofusión house as part of its permanent facilities, at least one large crane that will be dedicated to the handling of heavy and large parts (components weighing several tons). In general this type of cranes must incorporate anti-swaying systems, precise positioning control, anti-vibration systems, RoboticsLab of Carlos III University, given its experience in developing control systems for cranes, collaborates in this task by designing a simulation platform to validate the operation of cranes and control algorithms in a virtual reality environment that can incorporate all elements of real working environment.
International Journal of Integrated Engineering, 2020
Shipping of goods from one place to another in industries is commonly achieved with crane system. But such movement of the system results in undesirable sway which degrades the accuracy and safety. In this paper, hybrid control schemes of the model-dependent and non-model dependent filters and controllers are proposed for precise trolley position control and sway suppression of the crane systems. Output based filter (OBF) was designed usingtheoutputofthesystem,soitdoesnotdependonthemodelofthesystemwhiletimedelayfilters(TDF)were designed using the model parameters (i.e. natural frequency and damping ratio), in which Zero Vibration (ZV) and zero vibration derivative (ZVD) were considered. These depend on the model of the system and these filters are for sway suppression of the payload. In addition, proportional integral derivative (PID) controller and higher order differential feedback controller (HODFC) were incorporated with each filter separately for precise trolley position contro...
Practical Sway Motion Control for Double Pendulum-Type Overhead Crane System
International Journal on Smart Sensing and Intelligent Systems, 2012
The sway motion of crane can be successfully suppressed by properly shaping the reference command. Input shaping is a one type of feed-forward shaping method that is based on linear superposition. In this paper, we present the impact of double pendulum type overhead crane (DPTOC) system on the effectiveness of input shaping. An unshaped bang-bang input force is used to determine the characteristic parameters of the system for design and evaluation of the input shaping control techniques. The input shapers with the derivative effects are designed based on the properties of the system. The response DPTOC system to shaped input is experimentally verified in time and frequency domain. The performance of the input shaper is examined in terms of sway angle reduction and time response specification. Experimental results demonstrate the effectiveness of the proposed approach in reducing the sway motion of crane system.