ROBUST CONTROL OF REAL EXPERIMENTAL BRIDGE CRANE

Marek Hičár - Juraj Ritók

   The drive control of a bridge crane includes a crane crab, bridge and uplift control. At first, a mathematic and physical analysis of the main crane components was performed and variable system parameters were defined. Robust control by Ackermann ensures crane robustness against the burden weight and rope length variation, which provides sharp positioning and forbidden swinging of the burden in the final position. The real crane will be connected to a distributed control system (DSR). An analysis of the working place is performed with accent on the measurable units of burden swinging, and the results of robust controlling are described.

Keywords: bridge crane, crane crab, bridge and uplift, robust control, burden swinging

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