Title :
Anti-sway system for boom cranes based on a model predictive control approach
Author :
Arnold, Eckhard ; Sawodny, Oliver ; Neupert, Jörg ; Schneider, Klaus
Author_Institution :
Syst. Technol., Fraunhofer Application Center, Ilmenau, Germany
Abstract :
In the paper a model predictive control (MPC) approach for the automation of a boom crane with anti-sway functionalities is presented. In contrast to existing solutions the coupled nonlinear differential equations are considered in the dynamic model. The rope angle is measured by gyroscopes and reconstructed by observers. The system is realized on LIEBHERR harbor mobile cranes. Measurement results show the efficiency of the approach.
Keywords :
cranes; motion control; nonlinear differential equations; predictive control; antisway system; boom cranes; coupled nonlinear differential equations; harbor mobile cranes; model predictive control approach; rope angle; Automation; Cranes; Differential equations; Feedback control; Goniometers; Optimal control; Paper technology; Predictive control; Predictive models; State feedback;
Conference_Titel :
Mechatronics and Automation, 2005 IEEE International Conference
Conference_Location :
Niagara Falls, Ont., Canada
Print_ISBN :
0-7803-9044-X
DOI :
10.1109/ICMA.2005.1626783
