COMPARISON OF PLANAR CRANE MODELS

摘要

This article focuses on analyzing various controlled planar dynamic crane models and provides simulations of multiple used approaches. A number of publications are devoted to the control of a plane crane model. This simplifying circumstance is justified, and most bridge cranes allow only one direction to shift the payload. It is therefore acceptable to replace this spatial system with a planar one. And the simplest controlled linearized model without friction and damping, non-linear model without friction and damping, and both mentioned models considering rolling friction between trolley and its rails. Models with viscous damping will not be considered because this damping is small for cranes. This article provides a comparison of individual computational approaches as well as comparisons with real-world crane response. Finally, there is a suitable and simple method of linearized system control with respect to rolling friction, which consists of a combination of feedback linearization method and PPM method.