Robust predictive control of an overhead crane

• Autorzy: Smoczek J. , Szpytko J.

Identyfikatory

DOI

10.5604/01.3001.0010.2940

• Języki publikacji: EN

Abstrakty

EN

The predictive control scheme is developed for an overhead crane using the generalized predictive procedure applied for the discrete time linear parameter-varying model of a crane dynamic. The robust control technique is developed with respect to the constraints of sway angle of a payload and control input signal. The two predictive strategies are presented and compared experimentally. In the first predictive control scheme, the online estimation of the parameters of a crane dynamic model is performed using the recursive least square algorithm. The second approach is a sensorless anti-sway control strategy. The sway angle feedback signal is estimated by a linear parameter-varying model of an unactuated pendulum system with the parameters interpolated using a quasi-linear fuzzy model designed through utilizing the P1-TS fuzzy theory. The fuzzy interpolator is applied to approximate the parameters of a crane discrete-time dynamic model within the range of scheduling variables changes: the rope length and mass of a payload. The experiments carried out on a laboratory scaled overhead crane confirmed effectiveness and feasibility of the proposed solutions. The implementation of control systems was performed using the PAC system with RX3i controller. The series of experiments carried out for different operating points proved robustness of the control approaches presented in the article.

Słowa kluczowe

EN

overhead crane; predictive control; linear parameter varying model; recursive estimation; fuzzy interpolation

• Wydawca: Łukasiewicz Research Network - Institute of Aviation ; European Science Society of Powertrain and Transport KONES Poland ; Wydawnictwo Instytutu Technicznego Wojsk Lotniczych
• Czasopismo: Journal of KONES
• Rocznik: 2017
• Tom: Vol. 24, No. 2
• Strony: 231--238
• Opis fizyczny: Bibliogr. 22 poz., rys.

Twórcy

autor

Smoczek J.

• AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Adama Mickiewicza Av. 30, PL 30-059 Krakow, Poland tel.: [phone]

autor

Szpytko J.

• AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Adama Mickiewicza Av. 30, PL 30-059 Krakow, Poland tel.: [phone]

Bibliografia

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Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017).