Nonlinear Control of a Gantry Crane

Bernd Kolar; Kurt Schlacher

Nonlinear Control of a Gantry Crane

Institute of Control Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference proceedings › peer-review

Abstract

This paper treats the nonlinear control of a laboratory model of a gantry crane, where a trolley can be moved on a rail and the load is fixed at the end of a rope of variable length. The system is differentially flat, and the coordinates of the load, which also are the variables to be controlled, are a flat output. This fact allows us to determine a feedforward control law in a straightforward manner. Because of friction, the results achievable by a pure feedforward law are, as expected, not satisfying. This does not apply to the "pendulum subsystem", with the position of the trolley and the length of the rope as input, since it is almost free of friction. Therefore, a feedforward control for the "pendulum subsystem" is designed such that it shows an excellent tracking behavior. Finally, cascaded control is used for the guidance of the overall system.

Original language	English
Title of host publication	Computer Aided Systems Theory - EUROCAST 2013
Publisher	Springer
Number of pages	8
Volume	8112
ISBN (Print)	978-3-642-53861-2
Publication status	Published - 2013

Publication series

Name	Lecture Notes in Computer Science (LNCS)

Fields of science

102009 Computer simulation
203 Mechanical Engineering
202009 Electrical drive engineering
202034 Control engineering
202 Electrical Engineering, Electronics, Information Engineering
202027 Mechatronics
202003 Automation

JKU Focus areas

Mechatronics and Information Processing

Cite this

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title = "Nonlinear Control of a Gantry Crane",

abstract = "This paper treats the nonlinear control of a laboratory model of a gantry crane, where a trolley can be moved on a rail and the load is fixed at the end of a rope of variable length. The system is differentially flat, and the coordinates of the load, which also are the variables to be controlled, are a flat output. This fact allows us to determine a feedforward control law in a straightforward manner. Because of friction, the results achievable by a pure feedforward law are, as expected, not satisfying. This does not apply to the {"}pendulum subsystem{"}, with the position of the trolley and the length of the rope as input, since it is almost free of friction. Therefore, a feedforward control for the {"}pendulum subsystem{"} is designed such that it shows an excellent tracking behavior. Finally, cascaded control is used for the guidance of the overall system.",

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isbn = "978-3-642-53861-2",

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TY - GEN

T1 - Nonlinear Control of a Gantry Crane

AU - Kolar, Bernd

AU - Schlacher, Kurt

PY - 2013

Y1 - 2013

N2 - This paper treats the nonlinear control of a laboratory model of a gantry crane, where a trolley can be moved on a rail and the load is fixed at the end of a rope of variable length. The system is differentially flat, and the coordinates of the load, which also are the variables to be controlled, are a flat output. This fact allows us to determine a feedforward control law in a straightforward manner. Because of friction, the results achievable by a pure feedforward law are, as expected, not satisfying. This does not apply to the "pendulum subsystem", with the position of the trolley and the length of the rope as input, since it is almost free of friction. Therefore, a feedforward control for the "pendulum subsystem" is designed such that it shows an excellent tracking behavior. Finally, cascaded control is used for the guidance of the overall system.

AB - This paper treats the nonlinear control of a laboratory model of a gantry crane, where a trolley can be moved on a rail and the load is fixed at the end of a rope of variable length. The system is differentially flat, and the coordinates of the load, which also are the variables to be controlled, are a flat output. This fact allows us to determine a feedforward control law in a straightforward manner. Because of friction, the results achievable by a pure feedforward law are, as expected, not satisfying. This does not apply to the "pendulum subsystem", with the position of the trolley and the length of the rope as input, since it is almost free of friction. Therefore, a feedforward control for the "pendulum subsystem" is designed such that it shows an excellent tracking behavior. Finally, cascaded control is used for the guidance of the overall system.

M3 - Conference proceedings

SN - 978-3-642-53861-2

VL - 8112

T3 - Lecture Notes in Computer Science (LNCS)

BT - Computer Aided Systems Theory - EUROCAST 2013

PB - Springer

ER -