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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 789-790A Novel Dual-Loop Control Scheme for Payload...

A Novel Dual-Loop Control Scheme for Payload Anti-Swing and Trolley Position of Industrial Robotic 3DOF Crane

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Abstract:

In this paper, we propose a novel dual-loop control scheme (DLCS). We did not see such investigation of DLCS in the previous research work. DLCS scheme is a combination of classical PID and advanced state feedback control techniques. The proposed technique is used to control swing angle and trolley position of a 3DOF crane. Extensive simulations have been carried out using MATLAB / Simulink and practically validated on a Quanser 3DOF crane system. Experimental results indicate that the proposed DLCS control scheme improves crane operation by damping the payload oscillations. The scheme also smoothen the trolley motion. Our suggested technique provides better performance in terms of payload oscillations comparing to the classical PID.

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Manufacturing Science and Technology VI

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Periodical:

Applied Mechanics and Materials (Volumes 789-790)

Pages:

658-664

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.789-790.658

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Online since:

September 2015

Authors:

Muhammad Faisal, Mohsin Jamil*, Usman Rashid, Syed Omer Gilani, Yasar Ayaz, Muhammad Nasir Khan

Keywords:

Dual-Loop Control Scheme (DLCS), Full State Feedback, Linear Quadratic Regulator (LQR), Pole Placement Algorithm, Three Degrees of Freedom (3DOF) Crane

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© 2015 Trans Tech Publications Ltd. All Rights Reserved

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* - Corresponding Author

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