Disertación de Maestría
DOI
10.11606/D.3.2009.tde-21122009-133032
Documento
Autor
Nombre completo
Edson José Cardoso de Souza
Dirección Electrónica
Área de Conocimiento
Fecha de Defensa
Publicación
São Paulo, 2009
Director
Tribunal
Cruz, José Jaime da (Presidente)
Marques, Ricardo Paulino
Rios Neto, Atair
Título en portugués
Controle anti-oscilatório de tempo mínimo para guindaste usando a programação linear.
Palabras clave en portugués
Controle ótimo
Guindastes
Otimização matemática
Programação linear
Sistemas de controle
Resumen en portugués
Título en inglés
Minimum-time anti-swing control of gantry cranes using linear programming.
Palabras clave en inglés
Anti-swing control
Gantry crane control
Linear programming
Minimum-time control
Optimal control
Resumen en inglés
The problem of minimum-time anti-swing transfer of a load in a ship-to-pier gantry crane is investigated in this work. The load is assumed to be initially at rest at the vertical position at the loading point above the ship and equally at rest at the unloading point above the hopper. The trolley is also assumed to be at rest at both points. A complete model is presented for the crane system where the nonlinear dynamic equations are linearized for sufficiently small swing angles and then rewritten in dimensionless form. The minimum-time solution is sought by considering as control variables both the force applied on the trolley that produces its horizontal motion and the hoisting speed of the load as functions of time. A predictor-corrector iterative method using Linear Programming (LP) is proposed based on a discretetime model of the system where the control variables are taken as stepwise constants. At the corrector step, the hoisting motion is assumed given and a minimum-time solution is obtained by solving a sequence of LP problems representing fixed-time maximum-range problems. At the predictor step, a linearized model is employed to obtain an optimal correction of the hoisting motion using LP. The minimum-time control problem is formulated by taking into account practical constraints on the maximum speeds of both the trolley and the load hoisting, as well as on the maximum force that can be applied to the trolley. Numerical results are presented and show the effectiveness of the method.

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2010-05-24

ADVERTENCIA: El material descrito abajo se refiere a los trabajos derivados de esta tesis o disertación. El contenido de estos documentos es responsabilidad del autor de la tesis o disertación.
• De Souza, E. J. C., and DA CRUZ, J.J. Minimum-time anti-swing control of gantry cranes with hoisting control using Linear Programming. In COBEM 2009 - 20th International Congress of Mechanical Engineering, Gramado, RS, 2009. Proceedings of COBEM 2009., 2009.
• SOUZA, Eric Conrado de, CRUZ, J. J., e MARUYAMA, Newton. The LQG/LTR methodology for position control of unmanned underwater vehicles. In XV Congresso Brasileiro de Automática, Gramado, 2004.
Todos los derechos de la tesis/disertación pertenecen a los autores
Centro de Informática de São Carlos