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.
| Original language | English |
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| Publication status | Published - 2008 |
| Event | Reglermöte 2008 - Luleå Duration: 2008 Jun 4 → … |
Conference
| Conference | Reglermöte 2008 |
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| Period | 2008/06/04 → … |
Subject classification (UKÄ)
- Control Engineering
Free keywords
- LQG
- Gantry Crane
- Optimal Control
- Modelica