On the use of laser type slot sensors to damp load oscillations for cranes

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Supervisor:
Dr. Kiss Bálint
Department of Control Engineering and Information Technology

Nowadays cranes are widely used to move loads. They are still controlled by human operators, but there are more and more applications that can reduce the time of the transport and guarantee bigger safety. One of the biggest problems which can be solved by this kind of system is the swing of the rope. For the solution the system has to have information which describes exactly the swing of the rope. The greatest challenge here is the development of measurement processes and control algorithms without the need of mechanical contact between the sensors and the rope.

In my thesis I present a new method for the swing angle measurement at load transporting cranes that uses laser slot sensors to define the vertical position of the swinging load and the rope’s angular velocity at its vertical position. The laser slot sensors’ outputs are connected to a computer's input lines, so it was necessary to design a simple electrical circuit to fill this function. With a program we can determine the velocity values from the received data. It follows the planning of the controller which is able for the attenuation of the swing angle. The expected working was tested from one part with simulations, from other part on laboratory equipment in the Laboratory of Intelligent Robots at BME. In the second part of the thesis, the sensor is developed for cranes that move the load in three dimension and we examine the adaptability of the two dimensional control algorithm for the three dimensional case. For the designing and implementation I have used the MATLAB/Simulink/Quanser rapid prototyping framework.

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