A dynamic inversion approach for oscillation-free control of overhead cranes
© 2015 IEEE.In this paper an approach for controlling overhead cranes by avoiding oscillations is proposed and experimentally tested. In particular, a dynamic inversion technique is applied to the overhead crane model to design suitable (position or velocity) set-point and torque feedforward signals...
| Main Authors: | , , , |
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| Format: | Conference Paper |
| Published: |
2015
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| Online Access: | http://hdl.handle.net/20.500.11937/52082 |
| Summary: | © 2015 IEEE.In this paper an approach for controlling overhead cranes by avoiding oscillations is proposed and experimentally tested. In particular, a dynamic inversion technique is applied to the overhead crane model to design suitable (position or velocity) set-point and torque feedforward signals. The inversion approach is further simplified in order to make the proposed methodology more industrial-oriented. Experimental results, obtained by using a scaled overhead crane built by using only off-the-shelf components, show the effectiveness of the proposed methodology. |
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