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The Modelling and Position Control of Overhead Cranes

천정 크레인의 모델링 및 위치제어

Lee, Jong-Gyu
이종규

  • Published : 2001.12.01

Abstract

Overhead cranes consist of trolley, girder, rope, objects, trolley motor, girder motor, and hoist motor. If objects are regarded as mass point, and the acceleration of hoisting motion for objects is neglected, analytical model of overhead cranes becomes a nonlinear model because the length of a rope changes. Equations of motion this model is derived of simultaneous differential equations fur motors and object. Positions of the model are controlled by optimal inputs which obtain from a nonlinear optimal control method. From the results of computer simulation, even if initial states of objects suing, it is founded that position of overhead cranes is controlled, and that swing of objects is suppressed.

Keywords

Overhead Cranes;Nonlinear Model;Nonlinear Optimal Control;Hamiltonian Function

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