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Construction and Control of an Educational Lab Process - The Gantry Crane

Författare:
  • Per-Ola Larsson
  • Rolf Braun
Publiceringsår: 2008
Språk: Engelska
Dokumenttyp: Konferensbidrag

Sammanfattning

In this paper, we describe the construction and control of a gantry crane that is used in courses at the Department of Automatic Control, Lund university. Two different models of the crane are developed. A thorough example of path following, including on-line time-varying input/state-transformations and LQG control, used in a laboratory exercise is shown together with experimental results. Time-optimal trajectories for position control, with constraints on positions, load angles, and control signals are computed using Modelica and Optimica.

Disputation

Nyckelord

  • Technology and Engineering
  • LQG
  • Gantry Crane
  • Optimal Control
  • Modelica

Övriga

Reglermöte 2008
Luleå
Published
Yes
  • LCCC

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