Sliding mode controller design for two dimensional crane container system

مقدم أطروحة جامعية

Midhat, Bashshar Fatih

مشرف أطروحة جامعية

al-Samirrai, Shibli Ahmad

الجامعة

الجامعة التكنولوجية

الكلية

-

القسم الأكاديمي

قسم هندسة السيطرة و النظم

دولة الجامعة

العراق

الدرجة العلمية

ماجستير

الملخص الإنجليزي

Gantry cranes are widely used in industrial and civil environments to lift and transfer heavy loads over the working area.

Safety and economical considerations require that both the load swing and the transfer time are kept as small as possible.

Intuitively, minimizing the cycle time and the load swing are conflicting requirements, and their satisfaction requires proper control actions, especially if some uncertainties in the system dynamics are present.

In this work a design of a sliding mode controller and observer is proposed for a two dimensional gantry crane to move the loads with minimal sway angle.

The crane mathematical model is derived using Euler - Lagrange equation.

Then a sliding mode controller was designed using mathematical approaches and the sliding mode observer was applied to obtain the trolley position and sway angle time derivatives and feed them back to the controller.

The Sliding mode controller and observer were examined experimentally using a laboratory size digital pendulum unit.

The sliding mode observer was used to estimate the cart position and sway angle time derivatives from the encoders.

The experimental and theoretical results were sketched together to show the difference between the theoretical and experimental work.

Load sway damping was achieved and error steady state in cart position of about ±2% in simulation and ±1.4% experimentally.

التخصصات الرئيسية

العلوم الهندسية والتكنولوجية (متداخلة التخصصات)

الموضوعات

• الحوسبة

• APA
• MLA
• AMA

لغة النص

الإنجليزية

نوع البيانات

رسائل جامعية

رقم السجل

BIM-417642