MODELING AN ANTI-SWING CONTROLLER OF AN OVERHEAD CRANE BY USING MATLAB SIMULINK

Abstract

An overhead crane is one of the most common types of loading and unloading equipment. It can be used in civil engineering, metallurgical manufacturing, river, and seaports, and so on. It allows for cargo ascent and descent as well as distance transfer employing lifting and traveling equipment. The equation of motions of the system (crane mechanisms) in this paper has been derived based on Newton's laws.  The crane overhead consists of a pendulum and a moving cart. Such a system is unstable without control, and it is nonlinear. A linearizing dynamic feedback procedure is deduced from its general implicit differential model.  In crane overhead systems, the suspended load (by cable) is subject to swing caused by improper control input, which may even cause accidents. The Crane controller system is able to move the trolley fast enough and suppress the payload swing at the final position. This is so-called anti-swing control. The aim of this paper is to design a control system for the overhead system that can smoothly position the trolley while minimizing the swing of the load at the destination by using MATLAB Simulink to meet some of the specification requirements