ANTI-SWING CONTROLLER OF 3D CRANE

• Main Author: SYLVESTER, GILLIAN KHINAH
• Format: Final Year Project
• Language: English
• Published: Universiti Teknologi Petronas 2006
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://utpedia.utp.edu.my/9061/1/2006%20Bachelor%20-%20Anti-Swing%20Controller%20Of%203D%20Crane.pdf; http://utpedia.utp.edu.my/9061/
• Institution: Universiti Teknologi Petronas

Crane control is frequently studied where anti-swing control of the load has been one of the important issues. It is important to have anti-swing control for a crane because the swing motion of the suspended payload results in many problems to the productivity and safety. Modeling and control of a crane is a long-time research interest. Many researchers have worked on this issue of anti-swing control of the crane system. Their work can be divided into largely two groups: open loop and closed loop control. This project focuses on the development of anti-swing control for the crane. Several controllers will be studied, let it be open loop system and closed loop system for the anti-swing control. The simulation of the 3DCrane is done using MATLAB and RTWT toolbox package. This report detailed the mathematical modelling of the crane system and the model verification. The model of the crane system is developed using Lagrangian dynamics and electromechanical theory. In this report it is shown that a crane system can be represented as two sub models which are coupled by a term which includes the rope length as a parameter. The model is verified as an accurate model of a crane system and it is used to simulate performance of controllers using Matlab. Two types of controllers have been designed in this project which is PD controller and full state feedback (FSF) using pole placement method. The performance of the controllers is discussed and it is proven that the controllers have given a good control on the position of the cart and reduces the swing of the load.