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Title
Anti-swing Control of a Suspended Varying Load with a Robotic Crane
Author
Halder, Bibhrajit
Degree
Master of Science (MS), Ohio University, Mechanical Engineering (Engineering), 2002.
Advisor
Jae Lew
Pages
99p.
Abstract

This thesis presents feedback control algorithm for a robotic crane carrying a suspended varying load. A controller based on swing angle feedback method is proposed and its performance is compared with Proportional and Derivative (PD) and full state feedback controllers. The proposed controller suppresses the swing motion of the load while the crane carries the load to a desired position. The analysis includes the nonlinear dynamics of the crane and two-dimensional swing motion of the load. A simulation study is performed under various load condition to show the effectiveness of the swing angle feedback controller. The proposed controller is successfully implemented on the test bed at Mechanical Engineering Control Laboratory, Ohio University.

Subject Headings
Engineering, Mechanical
Keywords
Anti-Swing Control; Robotic Crane

Document number: ohiou1038408716. Bookmark this page as
<http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1038408716>.