Fast trajectory planning and control of a lab-scale 3D gantry crane for a moving target in an environment with obstacles

Modeling and control of overhead cranes: A tutorial overview and perspectives

“…Model predictive control (MPC) calculates the control sequences based on the model to minimize some objective functions (e.g., corresponding to energy consumption [281]) over a horizon while satisfying some constraints like input saturation or collision avoidance. MPC can directly calculate the force [45], or on the other hand, it may just calculate the optimal trajectory integrated with other controllers [258]. MPC can be designed based on the tangent linearized [45,258] or nonlinear models [211] of a single-pendulum.…”

“…MPC can directly calculate the force [45], or on the other hand, it may just calculate the optimal trajectory integrated with other controllers [258]. MPC can be designed based on the tangent linearized [45,258] or nonlinear models [211] of a single-pendulum.…”

“…MPC has also been combined with offline trajectory planners to increase the calculation speed and realize a real-time implementation [258]. In [226], it is assumed that the dynamics of the cart and the sway angle are decoupled which is obviously unrealistic, see (2) to ( 4) and (6).…”

Perancangan Girder Pada Fleksibel Ganrty Crane Kapasitas 1 Ton

“…Fleksibelitas dari alat pengangkat ini dilengkapi dengan adanya kemungkinan pengaturan tinggi kolom atau batang penopang, sehingga dapat diatur menyesuaikan ketersediaan ketinggian dan lebar akses. Hal lain yang harus diperhatikan adalah persoalan stabilitas maupun osilasi beban selama proses mengangkat, memindahkan maupun meletakan (Vu et al, 2022) (Beham et al, 2022) (Thomas & Sawodny, 2020) (Jaafar et al, 2013). Pada model terdahulu, fleksibelitas pengaturan ruang angkat beban masih terbatas pada pengaturan ketinggian yang dikendalikan oleh kolom (tiang utama) sebagaimana ditujukkan pada batang AD dan BC (Gambar 1).…”

“…Investigasi awal dengan mengunakan perhitungan manual berbasis balok sederhana. Perilaku respon balok terhadap beban menunjukkan distribusi linier diperoleh dengan mempertimbangan struktur yang homogen disepanjang balok (Vu et al, 2022). Pada analisis CAE Beam (Gambar 3.a) dengan meshing sebesar 0,5 diperoleh data distribusi tegangan sepanjang beam tidaklah lineier.…”