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M. Ghazal
Damavand Branch, Islamic Azad University
Automotive Engineering Electrical & Electronics Engineering

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A LQR Optimal Method to Control the Position of an Overhead Crane J. Jafari; M. Ghazal; M. Nazemizadeh
IAES International Journal of Robotics and Automation (IJRA) Vol 3, No 4: December 2014
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (194.991 KB) | DOI: 10.11591/ijra.v3i4.pp252-258

Abstract

In this paper, a LQR (Linear Quadratic Regulation) optimal method is implemented to control position of an overhead carne. To do this, a tracking formulation of LQR is developed and applied to the system. Hence the dynamic model of the overhead crane is presented, the dynamic of the actuator motor of the trolley is considered. As the parameters of the optimal controller assigned, some simulations are done to show the efficiency of the proposed method.
Co-Authors J. Jafari M. Nazemizadeh