ANTI-SWING CONTROL OF OVERHEAD CRANE USING LINEAR QUADRATIC TRACKING SYSTEM

Abstract

A crane is a machine equipped with a hoist, wire ropes or chains which is mainly used both to lift and lower materials and move them horizontally to different places. However, the under actuated structure of the crane makes difficult to control. The most important control requirement is to make the trolley position converge on desired position accurately with less payload swing which otherwise hinders the precise positioning of the load. In the practical situations, however, the achievement of both transporting trolley to target position and reducing payload swayed is not always easy. The thesis main objective focus on control the swing angle of the crane model was studying and simulate based on optimal control to stable the swing angle of the crane head at the desired value based on close-loop system. The (Linear Quadratic Regulation) optimal method is implemented to control the position and swing angle of the crane and give the better performance. Simulate of model done by using MATLAB software. From the main result it found that the system is regulated within 7.5 sec as best regulation