ANTI-SWING CONTROLLER OF 3D CRANE

Crane control is frequently studied where anti-swing control of the load has been
one of the important issues. It is important to have anti-swing control for a crane
because the swing motion of the suspended payload results in many problems to
the productivity and safety. Modeling and control of a crane is a long-time
research interest. Many researchers have worked on this issue of anti-swing
control of the crane system. Their work can be divided into largely two groups:
open loop and closed loop control. This project focuses on the development of
anti-swing control for the crane. Several controllers will be studied, let it be open
loop system and closed loop system for the anti-swing control. The simulation of
the 3DCrane is done using MATLAB and RTWT toolbox package. This report
detailed the mathematical modelling of the crane system and the model
verification. The model of the crane system is developed using Lagrangian
dynamics and electromechanical theory. In this report it is shown that a crane
system can be represented as two sub models which are coupled by a term which
includes the rope length as a parameter. The model is verified as an accurate
model of a crane system and it is used to simulate performance of controllers
using Matlab. Two types of controllers have been designed in this project which is
PD controller and full state feedback (FSF) using pole placement method. The
performance of the controllers is discussed and it is proven that the controllers
have given a good control on the position of the cart and reduces the swing of the
load.