Optimal control of a high speed overhead crane including hoisting
In this thesis we derive a dynamical nonlinear model of the two dimensional crane including hoisting. We study the behavior of the load displacement during the hoisting operation. When the load is disturbed from its equilibrium position during hoisting it swings about the origin. This condition is considered hazardous in the industry. In this thesis a control is derived for a crane such that it can dampen out this oscillation as quickly as possible. The optimal control theory is applied to formulate the control law. This control is simulated on the crane model. The results show that a crane can be transfered to a desired place in such a way that at the end of transfer the swing of the load decays in the minimum time.
School Location:USA - Ohio
Source Type:Master's Thesis
Keywords:optimal control high speed overhead crane hoisting equilibrium position model
Date of Publication:01/01/1992