The interval based control technique: controlling physical systems through imprecise models

Lamego, M.M.; Rey, J.P.

doi:10.1109/ias.1995.530527

Cited by 6 publications

(3 citation statements)

References 3 publications

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“…To achieve the desired control characteristic, the proportional and derivative gains can be calculated as (Lamego and Rey, 1995a):…”

Section: Controller Designmentioning

confidence: 99%

“…It is a two-degrees-of-freedom model that is controlled by manipulating the acceleration of the trolley _ v to eliminate the overshoot in the swing angle of the payload . Assuming the cable length at a given time instant to be l and the gravitational acceleration g, the linearized crane model can be derived, for small values of the swing angle, as shown below (Lamego and Rey, 1995a;Moustafa, 1994). It should be noted that the linearized model is chosen rather than the complete non-linear one for simplicity.…”

Section: Overhead Crane Mathematical Modelmentioning

confidence: 99%

“…where _ d is the desired input trolley acceleration; k p and k d are, respectively, the proportional and derivative controller gains. To achieve the desired control characteristic, the proportional and derivative gains can be calculated as (Lamego and Rey, 1995a):…”

Section: Controller Designmentioning

confidence: 99%

See 2 more Smart Citations

Control of interval parameter overhead cranes via Monte Carlo simulation

Omar

Harib

Moustafa

2010

Transactions of the Institute of Measurement and Control

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Variations in system parameters because of changing operating conditions could result in deteriorated system performance. To ensure robustness, modelling of such systems requires uncertain parameters to be dealt with as interval quantities. An overhead crane is a type of system that has inherent variation in some of its parameters. These parameters include cable length, trolley mass and payload. Hence, the interval parameter concept plays an important role in the control of overhead cranes. This paper considers the control problem of an overhead crane system with interval parameters. The paper presents a new technique based on Monte Carlo simulation to select properly optimal controller parameters. The objective of the control is to minimize the overshoot of the swing angle response throughout the crane travel regardless of the variations of the cable length. The cable length is assumed known within lower and upper bounds. The presented results show the usefulness of the Monte Carlo simulation approach as applied to the control problem of overhead cranes. A scaled-down crane model has been built and used to validate the results of the numerical simulation.

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“…To achieve the desired control characteristic, the proportional and derivative gains can be calculated as (Lamego and Rey, 1995a):…”

Section: Controller Designmentioning

confidence: 99%

Section: Overhead Crane Mathematical Modelmentioning

confidence: 99%