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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.
Please use this url to cite or link to this publication:
author
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organization
publishing date
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}},
}