Construction and Control of an Educational Lab Process - The Gantry Crane
(2008) Reglermöte 2008- Abstract
- 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.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/1444954
- author
- Larsson, Per-Ola LU and Braun, Rolf LU
- organization
- publishing date
- 2008
- type
- Contribution to conference
- publication status
- published
- subject
- keywords
- LQG, Gantry Crane, Optimal Control, Modelica
- conference name
- Reglermöte 2008
- conference dates
- 2008-06-04
- language
- English
- LU publication?
- yes
- id
- 9e99ef5b-426a-40fd-821e-87a772f55101 (old id 1444954)
- date added to LUP
- 2016-04-04 13:46:11
- date last changed
- 2018-11-21 21:16:10
@misc{9e99ef5b-426a-40fd-821e-87a772f55101, abstract = {{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.}}, author = {{Larsson, Per-Ola and Braun, Rolf}}, keywords = {{LQG; Gantry Crane; Optimal Control; Modelica}}, language = {{eng}}, title = {{Construction and Control of an Educational Lab Process - The Gantry Crane}}, url = {{https://lup.lub.lu.se/search/files/6200728/8229123.pdf}}, year = {{2008}}, }