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Multivariable Control of an Over-Head Crane System Based on Entire Eigen-Structure Assignment

[+] Author Affiliations
Hamed Moradi, K. Haji Hajikolaei, Firooz Bakhtiari-Nejad, Aria Alasty

Amirkabir University of Technology, Tehran, Iran

Paper No. DETC2010-28246, pp. 1491-1498; 8 pages
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4410-6 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME


Motion and stabilization control strategies are required to improve positioning accuracy, transportation time and swing angle of an overhead crane system. In this paper, a controller is designed to enhance both efficiency and safety and to extend the system application to other engineering fields. An over-head crane is modeled as a linear time invariant (LTI) system with two degrees of freedom. Trolley position and cable angle are the controlled outputs while the force exerted on trolley and torque on the load are the control inputs of the system. After state-space representation of the problem, feedback control is designed for tracking objective. An increase in the overall speed of the system time response corresponds to an increase in the control signal and leads to additional cost. Therefore, developing a code in MATLAB, eigenvalues and eigenvectors of the system are chosen optimally until an appropriate response is achieved; while the gains of control signal remain small.

Copyright © 2010 by ASME
Topics: Cranes



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