engleski

Tensor product model transformation-based controller design for gantry crane control system – an application approach

The Tensor Product (TP) model transformation is a recently proposed technique for transforming given Linear Parameter Varying (LPV) state-space models into polytopic model form, namely, to parameter varying convex combination of Linear Time Invariant (LTI) systems. The main advantage of the TP model transformation is that it is executable in a few minutes and the Linear Matrix Inequality (LMI)-based control design frameworks can immediately be applied to the resulting polytopc models to yield controllers with tractable and guaranteed performance. Various applications of the TP model transformation-based design were studied via academic complex and benchmark problems, but no real experimental environment-based study was published. Thus, the main objective of this paper is to study how the TP model transformation performs in a real world problem and control setup. The laboratory concept for TP model-based controller design, simulation and real time running on an electromechanical system is presented. Development system for TP model-based controller with one hardware/software platform and target system with real-time hardware/ software support are connected in the unique system. Proposed system is based on microprocessor of personal computer (PC) for simulation and software development as well as for real-time control. Control algorithm, designed and simulated in MATLAB/SIMULINK environment, use graphically oriented software interface for real-time code generation. Some specific conflicting industrial tasks in real industrial crane application, such as fast load positioning control and load swing angle minimization, are considered and compared with other controller types.

parallel distributed compensation ; linear matrix inequalities ; TP model transformation ; single pendulum gantry (SPG) ; position control ; swing angle control

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