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Anti-sway system for boom cranes based on a model predictive control approach

 
: Arnold, E.; Sawodny, O.; Neupert, J.; Schneider, K.

:

Gu, J. ; IEEE Robotics and Automation Society:
IEEE International Conference on Mechatronics and Automation 2005. Vol.3 : July 29 - Aug. 1, 2005,
Piscataway, NJ: IEEE Service Center, 2005
ISBN: 0-7803-9044-X
pp.1533-1538
International Conference on Mechatronics and Automation (ICMA) <2, 2005, Niagara Falls, Ontario>
English
Conference Paper
Fraunhofer IITB ( IOSB) ()

Abstract
In the paper a model predictive control (MPC) approach for the automation of a boom crane with anti-sway functionalities is presented. In contrast to existing solutions the coupled nonlinear differential equations are considered in the dynamic model. The rope angle is measured by gyroscopes and reconstructed by observers. The system is realized on LIEBHERR harbor mobile cranes. Measurement results show the efficiency of the approach.

: http://publica.fraunhofer.de/documents/N-38638.html