Abstract of Thesis presented at COPPE/UFRJ as a partial fulfillment of the requirements for the degree of Master of Science (M.Sc.)

Project and Trajectory Control of Overhead Crane for Transport of Loads Without Oscilations

Rodrigo Maia Tavares

March/2004

Advisors:

Ramon Romankevicius Costa Liu Hsu

Department:

Eletrical Engineering

      The present work proposes a control technique to solve the problem ofoscillations in a load transported by an overhead crane. This technique consists in the definition of reference paths and subsequent tracking of them by a discrete controller with on-line calculations of its parameters, using a recursive identifier based on the least squares principle. Besides, a prototype of an overhead crane has been built, seeking the performance evaluation of the proposed technique in a real system. Results of computer simulations have been presented, as well as the results obtained through the implementation of the proposed control system in the prototype.