Nonlinear predictive control of a tower crane using reference shaping approach (CROSBI ID 622470)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Bariša, Tin ; Bartulović, Mihovil, Žužić, Goran ; Ileš, Šandor ; Matuško Jadranko ; Kolonić, Fetah
engleski
Nonlinear predictive control of a tower crane using reference shaping approach
In this paper nonlinear Model Predictive Control of a tower crane based on reference shaping is proposed. MPC controller is used to calculate optimal reference for the inner control loop of the tower crane. The main objectives that the MPC controller needs to fulfill are tracking the reference position, suppressing the payload oscillations while satisfying operational constraints of the crane. The inner loop consists of P position controller and PI velocity controller which is common in industrial applications and easily implementable in standard frequency converters used in the cranes. The proposed approach is verified through simulation and experimental test on laboratory model of a 3D tower crane.
3D Tower Crane ; Nonlinear Predictive Control ; Reference Shaping.
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Podaci o prilogu
872-876.
2014.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of the 16th International Power Electronics and Motion Control Conference and Exposition, PEMC 2014
Antalya: Institute of Electrical and Electronics Engineers (IEEE)
Podaci o skupu
16th International Power Electronics and Motion Control Conference and Exposition, PEMC
predavanje
21.09.2014-24.09.2014
Antalya, Turska