제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2003년도 ICCAS
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- Pages.2240-2245
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- 2003
Application of Coefficient Diagram Method for Multivariable Control of Overhead Crane System
- Tantaworrasilp, A. (Faculty of Engineering and Research Center for Communications and Information Technology King Mongkut’s Institute of Technology Ladkrabang) ;
- Benjanarasuth, T. (Faculty of Engineering and Research Center for Communications and Information Technology King Mongkut’s Institute of Technology Ladkrabang) ;
- Ngamwiwit, J. (Faculty of Engineering and Research Center for Communications and Information Technology King Mongkut’s Institute of Technology Ladkrabang) ;
- Komine, N. (School of Information Technology and Electronics, Tokai University)
- 발행 : 2003.10.22
초록
In this paper, the controller design by coefficient diagram method (CDM) for controlling the trolley position, load-swing angle and hoisting rope length of the overhead crane system simultaneously is proposed. The overhead crane system is a MIMO system consisting of two inputs and three outputs. Its mathematical model is nonlinear with coupling characteristics. This nonlinear model can be approximated to obtain a linear model where the first input mainly affects the trolley position and the load-swing angle while the second input mainly affects the hoisting rope length. In order to utilize the CDM concept for assigning the controllers, namely PID, PD and PI controllers separately, the model is approximated to be three transfer functions in accordance with trolley position, the load-swing angle and the hoisting rope length controls respectively. The satisfied performances of the overhead crane system controlled by the these controllers and fast rejection of the disturbance effect occurred at the trolley position are shown by simulation and experimental results.