The Hardware-in–the-loop Overhead Crane Experimental Platform and Anti-sway Control Verification
Hongning Zhao, Yougang Sun*, Zhemin Shi, Qianyun Lou
H. N. Zhao, Y. G. Sun, Z. M. Shi, & Q. Y. Lou, “The Hardware-in–the-loop Overhead Crane Experimental Platform and Anti-sway Control Verification,” Journal of Mechanical Engineering Research and Developments, vol. 40, no. 2, pp. 385-394, 2017.
ABSTRACT: In order to analyze the characteristics of the overhead crane system, verify the effectiveness of the position tracking and the anti-sway control method of the crane and examine its actual control effect, according to the working principle and composition of the overhead crane, an experimental platform of the overhead crane based on hardware-in-the-loop is designed and established. The system which consists of mechanical main part, measuring device, driving system and controller, can truly reflect the actual dynamic characteristics and operation process of the system. The controller part, based on the idea of the hardware-in-the-loop, uses Matlab / Simulink platform, and can easily carry out a variety of control methods of experimental testing. Two common crane control strategies are applied to the experimental system. The experimental results are in good agreement with the theoretical analysis, which verifies the accuracy of the system. The experimental system can reflect the nonlinearity, strong coupling and under-actuating of the three-dimensional overhead crane, and accurately describe the actual operation of the overhead crane system. Therefore, it provides a very reliable test environment to analyze the performance of the crane system, the realization and adjustment of the crane control strategy.
Keywords: Overhead crane, hardware-in-the-loop, experimental platform, automatic control