In this paper, a velocity control system for industrial overhead cranes based on a Model Predictive Control approach is proposed. The problem of the control of the operator-in-the-loop system is addressed, as the operator drives the system pushing a button while the control algorithm drives the cart reducing the oscillations of the load. An inner velocity control loop is used in order to overcome some of the problems of controlling the system by using directly the torque of the motor as a control variable. Simulations show the effectiveness of the approach, in particular in the presence of friction.

MPC-PID control of operator-in-the-loop overhead cranes: A practical approach

Giacomelli, Marco;Faroni, Marco;Gorni, Domenico;Marini, Alberto;Simoni, Luca;Visioli, Antonio
2018-01-01

Abstract

In this paper, a velocity control system for industrial overhead cranes based on a Model Predictive Control approach is proposed. The problem of the control of the operator-in-the-loop system is addressed, as the operator drives the system pushing a button while the control algorithm drives the cart reducing the oscillations of the load. An inner velocity control loop is used in order to overcome some of the problems of controlling the system by using directly the torque of the motor as a control variable. Simulations show the effectiveness of the approach, in particular in the presence of friction.
2018
9781538685372
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11379/514002
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