Eventos Anais de eventos
DINAME 2017
XVII International Symposium on Dynamic Problems of Mechanics
Overhead crane sliding mode control with saturation and variable setpoint
Submission Author:
Silvio Cavallaro , SP
Co-Authors:
Silvio Cavallaro, Décio Crisol Donha
Presenter: Silvio Cavallaro
doi://10.26678/ABCM.DINAME2017.DIN17-0110
Abstract
In this article, a non-linear and robust controller is synthetized purposing to control a sub actuated overhead crane, aiming a sway angle amplitude and frequency reduction by penalizing the car accuracy and payload mass travel time. To do that, a combining sliding mode controller with saturation and variable setpoint is developed in order to ensure the machine to achieve the performance requirements for its usual applications. The closed loop system performance proved to be satisfactory, even when subjected to parametric uncertainties, making the car reaches its destination in a fast way, without making the payload mass to oscillate harmfully, from an amplitude and frequency point of view.
Keywords
overhead crane, modeling, control, sliding mode, saturation, variable setpoint
