3D CRANE

• Main Author: MOHAMAD JEMURI, NURUL HUDA SAFFRY
• Format: Final Year Project
• Language: English
• Published: Universiti Teknologi Petronas 2013
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://utpedia.utp.edu.my/9816/1/Final%20Dissertation_14109.pdf; http://utpedia.utp.edu.my/9816/

Nowadays, the crane systems are used widely. It is important to have a crane especially for heavy industry as it will helps people to carry heavy loads from one place to another place safely. This report is to present the research plan for Feedback Linearization Control of a 3D Crane. The objective of the project is to design and implement feedback linearization for 3D crane motion controller. The 3D crane model operates like the actual crane used in real life. The swing motion of the load in actual crane is the same as the pendulum in 3D crane. The load swing creating by the movement of the load caused the system to become unstable. Feedback Linearization is implementing in the model so that the whole system can become a linear system. Modeling the 3D crane dynamic is important for simulating the model on MATLAB to design a suitable controller. To increase the crane reliability, the standard controller will be implemented including PID and state feedback. Finally, the Feedback Linearization will be added and the performance of the sway angle produced using PID and Feedback Linearization will be observed.