Observer design and flatness-based feedforward control with model predictive trajectory planning of a crane rotator | IEEE Conference Publication | IEEE Xplore

Observer design and flatness-based feedforward control with model predictive trajectory planning of a crane rotator


Abstract:

This paper addresses the control of a crane rotator. A crane rotator can be considered as a mechanical nonlinear robot system. The crane rotator allows to control the ske...Show More

Abstract:

This paper addresses the control of a crane rotator. A crane rotator can be considered as a mechanical nonlinear robot system. The crane rotator allows to control the skew angle of a spreader. Spreaders are used to grip containers in harbors. A complete concept for skew angle control is presented in this paper. Rotating the manipulator causes a torsional oscillation since the manipulator is suspended on ropes. The control concept deals with the nonlinear dynamics. It comprises a nonlinear Luenberger observer design, a feedforward control and a tracking controller. The last two components are designed in a two-degrees of freedom structure. The feedforward controller is based on the differential flatness theory. To generate a continuous reference signal for the controller, a model predictive trajectory planner is added to the concept. Simulations and measurement results show the success of the overall structure implemented on the harbor crane LIEBHERR LHM 420.
Date of Conference: 04-06 June 2014
Date Added to IEEE Xplore: 21 July 2014
ISBN Information:

ISSN Information:

Conference Location: Portland, OR, USA

References

References is not available for this document.