부산대학교 도서관

Overhead cranes have historically been used in manufacturing and their operation has relied on human control. However, accidents due to human error have occurred. Automated control provides an opportunity for the reduction of accidents. The research presented in this article demonstrates the modeling and application of a partitioned nonlinear controller for the vertical lifting of loads. The control system is modeled around the actuator and the weight of the load. The partitioned aspect of the controller allows for optimum performance while lifting a wide range of load weights. Simulation and experimental results were obtained for step inputs and trajectory following. The results show critically damped to overdamped responses which were deemed desirable for safe operations. It was concluded the actuator-centered approach to control could be implemented on existing cranes in manufacturing. Particularly, it could be desirable for the automation of pick-and-place operations.