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Modelling and control of a Stacker Crane
2004 (English)Independent thesis Basic level (professional degree)Student thesis
Abstract [en]

The purpose with this project is to propose a positioning and control solution for the movement of a stacker crane that runs in an automated warehouse. To achieve this, the stacker crane must first be modelled by system identification techniques so that simulations can be done. Another reason to create a model of the system is that model based regulators can be evaluated. The stacker crane should accelerate and decelerate as smooth as possible so that the sway of the crane is kept as small as possible. This is achieved by using the theory of creating s-curves where the resulting position profile is generated with boundaries on velocity, acceleration and jerk that is set by the user. The control schemes proposed in the report are a PID-controller, a pole placement regulator and finally a Linear Quadratic Regulator (LQR). The conclusion made in the report is that a PID or a pole placement regulator is sufficient to control the system. Due to the fact that the suggested controller later will be implemented in a PLC, the PID with its simple to understand functional structure is recommended as a control scheme.

Place, publisher, year, edition, pages
2004. , 62 p.
Identifiers
URN: urn:nbn:se:kau:diva-54308Local ID: ELI-9OAI: oai:DiVA.org:kau-54308DiVA: diva2:1103011
Subject / course
Electronic Engineering, Bachelor of Science
Available from: 2017-05-30 Created: 2017-05-30

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  • apa
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