Sliding mode controller design for two dimensional crane container system
Dissertant
Thesis advisor
University
University of Technology
Faculty
-
Department
Department of Control and Systems Engineering
University Country
Iraq
Degree
Master
English Abstract
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.
Main Subjects
Engineering & Technology Sciences (Multidisciplinary)
Topics
American Psychological Association (APA)
Midhat, Bashshar Fatih. Sliding mode controller design for two dimensional crane container system. (Master's theses Theses and Dissertations Master). University of Technology, Iraq
https://search.emarefa.net/detail/BIM-417642
Modern Language Association (MLA)
Midhat, Bashshar Fatih. Sliding mode controller design for two dimensional crane container system. (Master's theses Theses and Dissertations Master). University of Technology.
https://search.emarefa.net/detail/BIM-417642
American Medical Association (AMA)
Midhat, Bashshar Fatih. Sliding mode controller design for two dimensional crane container system. (Master's theses Theses and Dissertations Master). University of Technology, Iraq
https://search.emarefa.net/detail/BIM-417642
Language
English
Data Type
Arab Theses
Record ID
BIM-417642