tailieunhanh - Implementation of a laboratory overhead crane control system

In this paper, a setup of control algorithm experiments applied to an overhead crane model in our laboratory is presented. The hardware of the model is designed to imitate the industrial overhead crane. Moreover, the software is developed with open source code and human-computer interaction which allow for the implementation of various control techniques. | Nghiên cứu khoa học công nghệ IMPLEMENTATION OF A LABORATORY OVERHEAD CRANE CONTROL SYSTEM Le Xuan Hai1 Nguyen Van Thai1 Bui Trong Duong1 Vu Thi Thuy Nga1 Thai Huu Nguyen2 Phan Xuan Minh1 Abstract In this paper a setup of control algorithm experiments applied to an overhead crane model in our laboratory is presented. The hardware of the model is designed to imitate the industrial overhead crane. Moreover the software is developed with open source code and human-computer interaction which allow for the implementation of various control techniques. In order to demonstrate the benefits of the experiments we first implement the PID algorithms for the control of the overhead crane system which successfully drive the trolley to the destination precisely and eliminate the payload swing sufficiently. Keywords Position control Payload anti-swing Overhead crane. 1. PROBLEM STATEMENT Overhead cranes are industry devices which are extensively utilized in many industrial areas such as at construction sites factories or harbors. In Vietnam most of overhead cranes are now manually operated. However when their size becomes larger or the transfer speed of the payload to the desired position is required to be higher the control of the overhead cranes becomes more difficult without being automated. Besides when constructing buildings the transfer of the materials to very high or dangerous places becomes easier with an overhead crane. Especially overhead cranes help save money and time when arranging and uploading goods on decks or at harbors 1 3 . The problem of anti-swing position control of the overhead crane system is always a challenging one. The first step in the control design process is to develop an appropriate mathematical model of the system. In many contributions on this matter the trolley mass and rope mass are omitted the rope length is fixed and the suspended load mass is assumed to be at the center of the load and no friction is involved as in 2 3 9 11 . The overhead .