Teaching/learning PBL activity: Gantry crane control system implementation

This paper presents a teaching/learning experiment running in the laboratorial curricular unit Project I of the 4'h year of the Integrated Master in Industrial Electronics and Computers Engineering at the University of Minho. Project specifications were defined by the three teachers involved in the experience and students were encouraged to look on different solutions for a real-word problem. In a concurrent way, students designed, developed and implemented didactic rigs to control a gantry crane system. The control was performed in open-loop, based on the Posicast feedforward technique, and in closed-loop, using a two-degrees of freedom configuration. The experiment procedure and the project outcomes of two solutions proposed by the students are presented.

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