Anti-swing Control of a Suspended Varying Load with a Robotic Crane
This thesis presents feedback control algorithm for a robotic crane carrying a suspended varying load. A controller based on swing angle feedback method is proposed and its performance is compared with Proportional and Derivative (PD) and full state feedback controllers. The proposed controller suppresses the swing motion of the load while the crane carries the load to a desired position. The analysis includes the nonlinear dynamics of the crane and two-dimensional swing motion of the load. A simulation study is performed under various load condition to show the effectiveness of the swing angle feedback controller. The proposed controller is successfully implemented on the test bed at Mechanical Engineering Control Laboratory, Ohio University.
School Location:USA - Ohio
Source Type:Master's Thesis
Keywords:anti swing control robotic crane
Date of Publication:01/01/2002