Build and control of a small scale crane system

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Dr. Stumpf Péter Pál
Department of Automation and Applied Informatics

The aim of the diploma thesis was to design and implement a model crane for demonstrative purpuses. At the beginning the goal was to design the structure and a control algorithm to test the dynamics, but later a Java interface also has been made.

In the first part of the thesis the structural design will be presented. In this chapter all the steps of the building process for example the sensor selection, the frame, the motorized cart and the reel mechanism will be discussed.

In the second part the mathematical model of the system will be shown. The system can be described using the Lagrange equations of second kind, which gives data about the dynamics of the system.

The equations of the previous chapter will be used in the motion simulation section. A simulator has been made in LabVIEW program, which can solve the previously calculated differential equation and can show the variation of the general coordinates. The results will show the pendulum like behavior in case of zero input force and zero input torque.

In the next big chapter the whole control program will be described in details. First the C code which was implemented on microcontroller, after that the Java code will be presented which was written in Eclipse. The C code includes the initializations, the serial communication and also the control algorithm. The design of the control algorithm is an essential part of the thesis, because it includes the calculation and the implementation of a state observer, which is a popular robust control technique nowadays.

In the last section will be the introduction of the Java program which is also the part of the control program. It is capable of sending motion commands to the system and monitoring the results.

The global system can be used for further innovations or can be tested with more sophisticated controls for example MPC (Model Predictive Control) or LQ (Linear Qudratic) control.


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