Power assistive motion control of suspended loads

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Dr. Kiss Bálint
Department of Control Engineering and Information Technology

Besides automatically guided vehicles there is a demand for other weight handling devices. Such examples are cranes, which can be used in ports and construction sites. A crane should be able to move the load vertically and horizontally and to eliminate the swinging of the load. In most cases, the crane is controlled by an operator, thus the moving of the load and the elimination of the load sway is done step-by-step in a slow pace. In order to reach a more precise and faster operation, some extent of automation is required.

During this semester I was working on a downsized crane system which can be found in the Intelligent Robots Laboratory of the Department of Control Engineering and Information Technology. The development of the algorithm was done in Matlab-Simulink. The real-time operation and the automated code generation are performed by the cooperation of the Quarc kernel and the Simulink Coder.

My assignment was to develop a system which operates with human help in a so called assistive way; therefore, it is semi-automated. During my work the aim was to establish a system in which due to minimal manual dislocation of the load, the suspension follows the load and it operates with control, based on the measurements of the sensors located on the crane-model. The crane’s job is not only to follow the load, but to ensure operational security. Additionally, it can occur that the load starts swinging in case of major dislocation; consequently, the elimination of this phenomenon was also in my priorities. The implementation of these functions was successful.


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