Modelling and control of single and dual cranes
The kinematic and dynamic models of a rotary crane are derived. The crane system has fewer inputs than the number of the degrees of freedom. Consequently, several schemes commonly used in the control of robotic manipulators are not directly applicable to the crane. A controller which consists of two parts is proposed. The first part regulates the motor torques in order to make the joints of the crane follow the specified trajectories. The second part is a feedback law designed so as to prevent the load from swinging. Since in practice the parameters of the crane and the object are not known accurately, an adaptive controller is designed. It allows for consistent performance of the system in the presence of the unknown or uncertain parameters. The problem of the modelling and control of two cooperating cranes holding a rigid object is next addressed. The kinematic constraints of the closed-chain system are obtained. These constraints are used in conjunction with the Newton-Euler equations of motions to obtain a dynamical model for the system. A PID controller is designed to perform the desired task. All the control schemes described in this thesis have been tested by computer simulations to illustrate their performance.
Koivo, Purdue University.
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