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    Multivariable control of overhead crane system by CRA method
    (2008-12-01)
    Nundrakwang, Songmoung
    ;
    Benjanarasuth, Taworn
    ;
    Ngamwiwit, Jongkol
    ;
    Komine, Noriyuki
    In this paper, three controllers, namely I-PD, PD and I-P controllers designed by CRA method for simultaneously controlling the trolley position, load-swing angle and hoisting rope length of the overhead crane system is proposed. The non-linear model of the crane system is first approximated to be three transfer functions in accordance with the trolley position, load-swing angle and hoisting rope length respectively. Then, the corresponding parameters of the I-PD, PD and I-P controllers are designed independently based on the appropriate values of generalized time constant and characteristic ratios. The implementation results show the good performances of the overhead crane system controlled by these controllers. The speed adjustment effects and fast rejection of the disturbance effect occurred at the input force of the trolley are also shown by the experimental results. © 2008 SICE.
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    I-PD and PD controllers designed by CRA for overhead crane system
    (2007-12-01)
    Sridokbuap, Wanlop
    ;
    Nundrakwang, Songmoung
    ;
    Benjanarasuth, Taworn
    ;
    Ngamwiwit, Jongkol
    ;
    Komine, Noriyuki
    An overhead crane system controlled by an I-PD controller incorporating with PD controller is presented in this paper. The characteristic ratio assignment method is employed to design the I-PD controller and the PD controller for controlling the position of trolley and for controlling the load swing angle of the overhead crane system, respectively. Using the concept of characteristic ratio assignment method, the speed of the step response can also be increased by using a design factor k. The simulation results show that the step response can reach to the desired position without overshoot and with small load swing angle. The slightly change of the step responses when changing the parameters of the overhead crane system are also shown. The simulation results also show that when the speed of the step response is increased, the load swing angle is large related to the speed increased while the disturbance effect rejection is fast. © ICROS.