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Model predictive control of gantry/bridge crane with anti-sway algorithm

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Abstract

This paper presents MPC (Model predictive control) controller, which provides fast transfer of cargo with sway reduction. The solution for criterion function of MPC controller was reached through multicriteria optimization. Intuitive adjustment of crane dynamics system is done by means of multicriteria optimization weights. The mathematical model of crane, which MPC controller is using to determine optimum control, is introduced and it takes into account the hoisting dynamics of cargo. Experimentally confirmed is the MPC controller on a bridge crane laboratory scale model and compared with the classical control system, which uses PD (Proportional and derivative) controller to control the position and prevent swaying.

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Authors and Affiliations

  1. Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, University of Split, Ruđera Boškovića 32, 21000, Split, Croatia

    Danijel Jolevski & Ozren Bego

Authors
  1. Danijel Jolevski
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  2. Ozren Bego
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Correspondence to Danijel Jolevski.

Additional information

Recommended by Associate Editor Jong Hyeon Park

Danijel Jolevski was born in Split, Croatia in 1984. He obtained a Ph.D. in Electrical Engineering year 2013 from the University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, Croatia. Currently he is working as associate assistant at same Faculty, on Electric Power Engineering department. His research interests include digital control systems, embedded computer systems, and industrial process automation.

Ozren Bego was born in Split, Croatia in 1966. He received the B.S. degree in electrical engineering from the University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, Croatia. He received M.S. and Ph.D. degrees from the Faculty of Electrical Engineering and Computing, University of Zagreb, Croatia. Currently he is working as assistant professor at Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, Split. His research interests include digital control systems, embedded computer systems, and industrial process automation.

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Jolevski, D., Bego, O. Model predictive control of gantry/bridge crane with anti-sway algorithm. J Mech Sci Technol 29, 827–834 (2015). https://doi.org/10.1007/s12206-015-0144-8

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  • DOI: https://doi.org/10.1007/s12206-015-0144-8

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