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SIMMECHANICS VISUALIZATION OF EXPERIMENTAL MODEL OVERHEAD CRANE,ITS LINEARIZATION AND REFERENCE TRACKING-LQR CONTROL

SIMMECHANICS VISUALIZATION OF EXPERIMENTAL MODEL OVERHEAD CRANE,ITS LINEARIZATION AND REFERENCE TRACKING-LQR CONTROL 

Thein Moe Win1 Tim Hesketh2 Ray Eaton3 
 School of Electrical Engineering & Telecommunication The University of New South Wales, High St, Kensington, NSW 2052, Australia

ABSTRACT

Overhead Crane experimental model using Simmechanic Visualization is presented for the robust antisway LQR control. First, 1D translational motion of overhead crane is designed with exact lab model measurements and features. Second, linear least square system identification with 7 past inputs/outputs is applied on collected simulation data to produce more predicted models. Third, minimize root mean square error and identified the best fit model with lowest RMSE. Finally, Linear Quadratic Regulator (LQR) and Reference tracking with pre-compensator have been implemented to minimize load swing and perform fast track on trolley positioning.

KEYWORDS

Simmechanic Visualization, linear least square system identification, Linear Quadratic Regulator (LQR), Reference tracking with pre-compensator, Overhead Crane.



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