DESIGN AND VERIFICATION OF A FEEDBACK SYSTEM FOR RESTRICTING BOOM CRANE SLEW RANGE
Open Access
- Author:
- Parmiter, Jennifer Lynn
- Area of Honors:
- Electrical Engineering
- Degree:
- Bachelor of Science
- Document Type:
- Thesis
- Thesis Supervisors:
- Jeffrey Louis Schiano, Thesis Supervisor
Dr. Julio V. Urbina, Thesis Honors Advisor - Keywords:
- Boom Cranes
Control System
Non-Linear
MATLAB - Abstract:
- Boom cranes are of importance in construction as well as moving loads for trade purposes. The performance of crane systems is limited in part by the experience of the crane operator. Feedback control systems provide a potential solution for overcoming this limitation. Although numerous crane control strategies appear in literature, creating a control design in which the operator does not feel or see the crane do anything against his or her operation is very difficult. This research focuses on slew control, which is the limiting of slew angle range. The objectives include: stopping the boom within three degrees of the limit, keeping the operator in control as much as possible, and smoothly limiting the velocity to the speed limit. To achieve these objectives, the user’s joystick is scaled by a control gain. This gain depends on the location of the boom with respect to the limit, the direction of the joystick, as well as the boom’s velocity as it approaches the limit. A velocity profile determines how energy is linearly released from the system as the boom approaches the limit. A non-linear differential equation is used to model a boom crane and parameters are selected via material specifications or experimentation. Simulations are run in MATLAB/Simulink to verify the algorithm works for different levels of throttle and different inertial loads.