Position Control and Anti-Swing Control of Overhead Crane Using LQR

Liji Ramesan Santhi, Laila Beebi M

Abstract: A crane is a machine equipped with a hoist, wire ropes or chains which is mainly used both to lift and lower materials and move them horizontally to different places. Overhead crane is widely used to convey the payload due to its convenience. The most important control requirement is to make the trolley position converge to desired position accurately with less payload swing which otherwise hinders the precise positioning of the load. This makes it possible to achieve the purpose of overhead crane which is mainly used to convey payload to the desired position in a stable manner. In the proposed method, the motion of the payload is estimated based on the mathematical model of the crane and the measured trolley position. The proposed soft sensor based anti-swing control strategy is effective for reducing the payload swing. The objective is to employ a linear quadratic regulator for controlling the trolley position and swing motion.

Keywords: Overhead crane, Linear Quadratic Regulator (LQR), State Variables, Performance Index.