Abstract:
To increase the effectiveness of the cargo transshipment process is one of the most important objectives for the automation of cranes. Therefore new control strategies ar...Show MoreMetadata
Abstract:
To increase the effectiveness of the cargo transshipment process is one of the most important objectives for the automation of cranes. Therefore new control strategies are applied. This paper presents a nonlinear controller in order to solve the trajectory tracking and disturbance rejection problem for a boom crane. A model of the crane dynamics in radial direction is derived considering the dominant nonlinearities such as the actuator kinematics. Further on, the coupling of a slewing and luffing motion is taken into account. This coupling is caused by the centrifugal acceleration of the load in radial direction during a slewing motion. Based on the nonlinear model a linearizing and disturbance decoupling control law is derived and discussed. Measurement results from the boom crane validate the good performance of the nonlinear controller.
Published in: 2007 American Control Conference
Date of Conference: 09-13 July 2007
Date Added to IEEE Xplore: 30 July 2007
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