Szczegóły publikacji
Opis bibliograficzny
Generalized predictive control of an overhead crane / Jarosław SMOCZEK, Janusz SZPYTKO // W: MMAR 2015 : 20th international conference on Methods and Models in Automation and Robotics : 24–27 August 2015, Międzyzdroje, Poland : program, abstracts, proceedings (CD). — Szczecin : ZAPOL Sobczyk Sp. j., [2015] + CD. — Dod. ISBN: 978-1-4799-8701-6, 978-1-4799-8700-9. — ISBN: 978-83-7518-756-4. — S. 101. — Pełny tekst na dołączonym CD-ROMie. — S. 614–619. — Wymagania systemowe: Adobe Reader ; napęd CD-ROM. — Bibliogr. s. 619, Abstr.
Autorzy (2)
Słowa kluczowe
Dane bibliometryczne
| ID BaDAP | 91354 |
|---|---|
| Data dodania do BaDAP | 2015-09-04 |
| Rok publikacji | 2015 |
| Typ publikacji | materiały konferencyjne (aut.) |
| Otwarty dostęp |  |
| Konferencja | International Conference on Methods and Models in Automation and Robotics 2015 |
Abstract
The adaptive control of an overhead crane is developed based on Generalized Predictive Control (GPC) technique. The one-step ahead predictive control scheme is proposed for reducing the residual and transient oscillations of a payload suspended on a rope and transferred by a crane, with respect to the variation of rope length and mass of a payload. The recursive least square (RLS) algorithm is applied to real-time estimate parameters of discrete-time model of a crane dynamic system. Feasibility and applicability of the proposed control technique were confirmed during experiments carried out on the laboratory stand. The results of experiments are presented and compared with performances of the linear controllers-based scheme designed using pole placement method.
