TRAJECTORY CONTROL OF CRANE LOAD POSITION AND INCLINATION

Abstract A gain-scheduled trajectory control is exemplary presented for two of six available axes of an overhead crane that allows for positioning and inclining the crane load according to specified trajectories. Besides its tracking capabilities, the proposed control provides an active oscillation damping. The overall control structure consists of independent axis controllers, which are adapted to measurements of varying system parameters. These axis controllers take advantage of combined feedforward and feedback control as well as observer based disturbance rejection. The achieved control performance is shown by selected experimental results from an implementation on a 5 t - bridge crane.

[1]  J. Rudolph,et al.  Control of flat systems by quasi-static feedback of generalized states , 1998 .

[2]  Brigitte d'Andréa-Novel,et al.  Adaptive control of an overhead crane using dynamic feedback linearization and estimation design , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[3]  Oliver Sawodny,et al.  Disturbance estimation and compensation for trajectory control of an overhead crane , 2000, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[4]  Harald Aschemann,et al.  Active damping of tilt oscillations and trajectory control of overhead cranes , 2000, 2000 26th Annual Conference of the IEEE Industrial Electronics Society. IECON 2000. 2000 IEEE International Conference on Industrial Electronics, Control and Instrumentation. 21st Century Technologies.