Optimal Dynamic Inversion Based Control Of An Overhead Crane

Ahmad Edham, Mohammad (2009) Optimal Dynamic Inversion Based Control Of An Overhead Crane. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

A Methodology is proposed to control the transient and residual oscillation of a payload carried by an overhead crane. The design approach is based on a linearised model of the crane and consists of dampening the linearised system by an observer-based controller and applying a dynamic inversion procedure in order to assure a predetermined oscillation free polynomial motion law for the payload. Polynomials functions are adopted in order to guarantee that the input function has a continuous derivative of an arbitrary order. Moreover, the motion time can be minimized, taking into account constraints on the actuator, by means of a simple bisection algorithm. Parameter uncertainties are taken into account during the whole design procedure. Simulation results, based on a nonlinear crane model, show how the method is also effective when the payload is hoisted or lowered during the motion, and when friction effects are considered.

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