Naslov
Nonlinear predictive control of a tower crane using reference shaping approach

Autori
Bariša, Tin ; Bartulović, Mihovil, Žužić, Goran ; Ileš, Šandor ; Matuško Jadranko ; Kolonić, Fetah

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 16th International Power Electronics and Motion Control Conference and Exposition, PEMC 2014 / - Antalya : Institute of Electrical and Electronics Engineers (IEEE), 2014, 872-876

Skup
16th International Power Electronics and Motion Control Conference and Exposition, PEMC

Mjesto i datum
Antalya, Turska, 21.09.2014. - 24.09.2014

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
3D Tower Crane ; Nonlinear Predictive Control ; Reference Shaping.

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

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