Anti Sway Full Order State Feedback Control of the Overhead Crane with Variable Rope Length Using Luenberger Observer
Anti Sway Full Order State Feedback Control of the Overhead Crane with Variable Rope Length Using Luenberger Observer 10th International Conference on Electrical Power Drive Systems, ICEPDS 2018
Tolochko, O., Bazhutin, D.
This paper presents the design of a full order state-feedback control system for a payload carrying overhead crane trolley capable of eliminating the payload swing. In order to estimate the payload swing angle and its angular velocity a Luenberger state observer was designed. Both control system and observer were designed according to linearized model of “trolley-payload” mechanical system. To improve the transients shape an observeradaptation technique was proposed, which takes into consideration variable rope length. We then compare the designed system with the speed cascade control system, which uses three-stage acceleration and braking. The simulation results indicate the efficiency of the designed system in terms of payload swing elimination in case of present initial swing angle.
