Title :
Nonlinear digital controller for an off-shore crane
Author :
Nguyen, H.T. ; Jackson, V. ; Irvine, M.
Author_Institution :
Univ. of Technol. Sydney, NSW, Australia
Abstract :
A state-variable feedback controller for an offshore crane has been designed to control the load position using a hoist motor and the boom position using a luff motor. In addition, the solutions to a number of major operational problems of an off-shore crane such as load swing control, payload level control, and rope tension control are also incorporated. This nonlinear digital controller has been implemented successfully using a reduced-scale model of an off-shore crane
Keywords :
control system synthesis; cranes; digital control; electric motors; feedback; force control; machine control; nonlinear control systems; position control; boom position; control system synthesis; design; digital controller; load position; load swing control; machine control; motor; nonlinear control; offshore crane; payload level control; rope tension control; state-variable feedback; Adaptive control; Cranes; Digital control; Equations; Lagrangian functions; Marine vehicles; Motor drives; Payloads; State-space methods; Transfer functions;
Conference_Titel :
Industrial Electronics, 1992., Proceedings of the IEEE International Symposium on
Conference_Location :
Xian
Print_ISBN :
0-7803-0042-4
DOI :
10.1109/ISIE.1992.279612
