Abstract
This paper presents the modeling of a didactic birail crane, and the design of a controller by state space to control the oscillation of the load when the operator displaces it. For the design of the controller, an observer of complete order states was considered, which allows estimating the values of the states that cannot be measured and filtering the measurable state variables. The modeling of the system was performed using Euler-LaGrange, taken as state variables, the position of the trolley, the angular position of the pendulum (oscillating load) and the respective velocities. The didactic prototype has a range of 2 m in the horizontal and 1 m in the vertical axis and uses DC motors as actuators. The control of the prototype is made by using an application (App) designed in Android Studio. The controller is synthesized in a DsPic 30F4013 microcontroller, which facilitates the updating of the controller and implementation of new control laws.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Collado, R.E.: Diseno de puente grúa de 5 toneladas (2010)
Fernández, L., Castro, I., Mora, J., Salamanca, J.: Control “anti sway” para un prototipo de puente grúa birraíl.L’esprit Ingénieux 4(1) (2015)
Gordón, M., Cicerón, S., Silva Proaño, C.S.: Diseño de un puente grúa tipo de 5 toneladas de capacidad para la industria metalmecánica. B.S. thesis, QUITO (2011)
Navarro Chávez, G.A.: Diseño e implementación de un sistema de control por lógica difusa del tipo takagi-sugeno aplicado a un prototipo de grúa-puente (2011)
Ogata, K.: System Dynamics, vol. 4. Prentice Hall, Upper Saddle River (2004)
Ríos, C.D.Z., Suárez, E.G.: Identificación robusta aplicada a un sistema de control de un puente grúa. Scientia et technica 18(3), 437–446 (2013)
San Martín Castillo, P.D.: Diseño e implementación de un sistema de control por modo deslizante usando dsp aplicado a un prototipo de grúa puente (2005)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Garzón, J., Alfonso, J., Fernandez-Samacá, L., Sanabria, C. (2020). Modeling and Antibalance Control of a Birail Crane. In: Martínez, A., Moreno, H., Carrera, I., Campos, A., Baca, J. (eds) Advances in Automation and Robotics Research. LACAR 2019. Lecture Notes in Networks and Systems, vol 112. Springer, Cham. https://doi.org/10.1007/978-3-030-40309-6_15
Download citation
DOI: https://doi.org/10.1007/978-3-030-40309-6_15
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-40308-9
Online ISBN: 978-3-030-40309-6
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)