DocumentCode :
3674067
Title :
A dynamic inversion approach for oscillation-free control of overhead cranes
Author :
Fabrizio Padula;Antonio Visioli;Domenico Facchinetti;Alberto Saleri
Author_Institution :
Dip. di Ingegneria dell´Informazione, University of Brescia, Italy
fYear :
2015
Firstpage :
1
Lastpage :
6
Abstract :
In this paper an approach for controlling overhead cranes by avoiding oscillations is proposed and experimentally tested. In particular, a dynamic inversion technique is applied to the overhead crane model to design suitable (position or velocity) set-point and torque feedforward signals. The inversion approach is further simplified in order to make the proposed methodology more industrial-oriented. Experimental results, obtained by using a scaled overhead crane built by using only off-the-shelf components, show the effectiveness of the proposed methodology.
Keywords :
"Cranes","Torque","Force","Transfer functions","Feedforward neural networks","Friction","Polynomials"
Publisher :
ieee
Conference_Titel :
Emerging Technologies & Factory Automation (ETFA), 2015 IEEE 20th Conference on
Type :
conf
DOI :
10.1109/ETFA.2015.7301445
Filename :
7301445
Link To Document :
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