Overhead cranes are widely used in industries and warehouses to transport heavy materials to desired position quickly. However, fast transporting of payload always induces large payload swaying. This undesirable sway frequently causes poor position accuracy, load damage, damage on surrounding objects and human beings. The main aim of this thesis is to improve time efficiency during transportation of the payload and ensure safety of the overall crane system. Moreover, the trolley needed to arrive at the desired position quickly with minimum sway of the payload. To achieve these objectives, a two-step design strategy is developed. These steps are a systematic anti-sway optimal motion planning and adaptive controller design. The first step is designed to minimize the sway of the payload trajectory for the overhead crane under physical constraints. In addition, adaptive control law is designed to make the trolley tracking the optimized reference inputs" by adjusting the controller parameters automatically under measurable and unmeasurable disturbance. The stability approach of 3-dimensional overhead crane has been designed using Lyapunov based Model Reference Adaptive Control (MRAC). Finally, performance comparison of taking PID controller as benchmark with Lyapunov based Model Reference Adaptive Controller design with PID feedback compensator is developed in Matlab/simulation. The simulation result shows that the designed MRAC with PID feedback compensator is fast velocity tracking performance than PID controller design.
OPTIMAL MOTION–PLANNING AND HYBRID (ADAPTIVE-PID) ANTI-SWAY CONTROL OF 3D OVERHEAD CRANE
2019-06-12
doi:10.20372/nadre/3976
Hochschulschrift
Elektronische Ressource
Englisch
DDC: | 629 |