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Construction and Control of an Educational Lab Process - The Gantry Crane

Larsson, Per-Ola LU and Braun, Rolf LU (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.
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author
organization
publishing date
type
Contribution to conference
publication status
published
subject
keywords
LQG, Gantry Crane, Optimal Control, Modelica
conference name
Reglermöte 2008
language
English
LU publication?
yes
id
9e99ef5b-426a-40fd-821e-87a772f55101 (old id 1444954)
date added to LUP
2009-07-19 16:02:01
date last changed
2016-04-16 11:39:18
@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},
  keyword      = {LQG,Gantry Crane,Optimal Control,Modelica},
  language     = {eng},
  title        = {Construction and Control of an Educational Lab Process - The Gantry Crane},
  year         = {2008},
}