SIMMECHANICS VISUALIZATION OF EXPERIMENTAL MODEL OVERHEAD CRANE,ITS LINEARIZATION AND REFERENCE TRACKING-LQR CONTROL

Overhead Crane experimental model using Simmechanic Visualization is presented for the robust antisway LQR control. First, 1D translational motion of overhead crane is designed with exact lab model measurements and features. Second, linear least square system identification with 7 past inputs/outputs is applied on collected simulation data to produce more predicted models. Third, minimize root mean square error and identified the best fit model with lowest RMSE. Finally, Linear Quadratic Regulator (LQR) and Reference tracking with pre-compensator have been implemented to minimize load swing and perform fast track on trolley positioning.