A Novel Dual-Loop Control Scheme for Payload Anti-Swing and Trolley Position of Industrial Robotic 3DOF Crane-Reference-Cited by-同舟云学术

A Novel Dual-Loop Control Scheme for Payload Anti-Swing and Trolley Position of Industrial Robotic 3DOF Crane

Published:2015-09 Issue: Volume:789-790 Page:658-664
ISSN:1662-7482
Container-title:Applied Mechanics and Materials
language:
Short-container-title:AMM

Author:

Faisal Muhammad¹,Jamil Mohsin²,Rashid Usman³,Gilani Syed Omer³,Ayaz Yasar³,Nasir Khan Muhammad⁴

Affiliation:

1. National University of Sciences and Technology, Islamabad

2. National University of Sciences and Technology

3. National University of Sciences and Technology, Islamabad, Pakistan

4. University of Lahore, Pakistan

Abstract

In this paper, we propose a novel dual-loop control scheme (DLCS). We did not see such investigation of DLCS in the previous research work. DLCS scheme is a combination of classical PID and advanced state feedback control techniques. The proposed technique is used to control swing angle and trolley position of a 3DOF crane. Extensive simulations have been carried out using MATLAB / Simulink and practically validated on a Quanser 3DOF crane system. Experimental results indicate that the proposed DLCS control scheme improves crane operation by damping the payload oscillations. The scheme also smoothen the trolley motion. Our suggested technique provides better performance in terms of payload oscillations comparing to the classical PID.

Publisher

Trans Tech Publications, Ltd.

Link

https://www.scientific.net/AMM.789-790.658.pdf

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