Modeling and Antibalance Control of a Birail Crane

Abstract

This paper presents the modeling of a didactic birail crane, and the design of a controller by state space to control the oscillation of the load when the operator displaces it. For the design of the controller, an observer of complete order states was considered, which allows estimating the values of the states that cannot be measured and filtering the measurable state variables. The modeling of the system was performed using Euler-LaGrange, taken as state variables, the position of the trolley, the angular position of the pendulum (oscillating load) and the respective velocities. The didactic prototype has a range of 2 m in the horizontal and 1 m in the vertical axis and uses DC motors as actuators. The control of the prototype is made by using an application (App) designed in Android Studio. The controller is synthesized in a DsPic 30F4013 microcontroller, which facilitates the updating of the controller and implementation of new control laws.