Construction and Control of an Educational Lab Process - The Gantry Crane
Author
Summary, in English
In this paper, we describe the construction and control of a gantry crane that is used in courses at the Department of Automatic Control, Lund university. Two different models of the crane are developed. A thorough example of path following, including on-line time-varying input/state-transformations and LQG control, used in a laboratory exercise is shown together with experimental results. Time-optimal trajectories for position control, with constraints on positions, load angles, and control signals are computed using Modelica and Optimica.
Department/s
Publishing year
2008
Language
English
Full text
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Document type
Conference paper
Topic
- Control Engineering
Keywords
- LQG
- Gantry Crane
- Optimal Control
- Modelica
Conference name
Reglermöte 2008
Conference date
2008-06-04
Status
Published
Research group
- LCCC