Model predictive control of gantry/bridge crane with anti-sway algorithm

摘要

This paper presents MPC (Model predictive control) controller, which provides fast transfer of cargo with sway reduction. The solution for criterion function of MPC controller was reached through multicriteria optimization. Intuitive adjustment of crane dynamics system is done by means of multicriteria optimization weights. The mathematical model of crane, which MPC controller is using to determine optimum control, is introduced and it takes into account the hoisting dynamics of cargo. Experimentally confirmed is the MPC controller on a bridge crane laboratory scale model and compared with the classical control system, which uses PD (Proportional and derivative) controller to control the position and prevent swaying.