8331

7729

كارشناسي ارشد

مهندسي برق

اصفهان: دانشگاه صنعتي اصفهان، دانشكده برق و كامپيوتر

1392

ده،89ص.: مصور،جدول،نمودار

ص.ع.به فارسي و انگليسي

محمد ابراهيمي

محسن مجيري

3/10/92

مهدي معلم، احمدرضا تابش

مهندسي برق و كامپيوتر

ID7729

به فارسي و انگليسي: قابل رويت در نسخه ديجيتالي

Load Swing Angle Estimation in Overhead Cranes Using State Observer and Damping the Sway Using LQR Hamed Jali h jali@ec iut ac ir hamed jali@gmail com Date of Submission th March Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan Iran Degree M Sc Language Farsi Supervisor Dr Mohammad Ebrahimi mebrahim@cc iut ac ir Abstract Nowadays with the rapid industrialization and population growth the industry always finds new achievements In all industries such as steel production factories overhead cranes are used in order to move heavy objects Among the problems that exist in the use of overhead cranes suspended load sway can be the most important one The sway arise by starting and stopping the movement of crane or blowing severe winds which may create dangers This case will reduce the safety of workplace and employees Therefore the sways should be estimated and damped Studies using electronic systems such as image processing visual systems and mechanical sensors like acceleration sensors or load cells have been done to estimate the suspended load swing angle The disadvantages of these methods such as the visual system can be the high cost and the error due to changing environmental conditions In this thesis we are going to present a new and accurate method for the estimation of suspended load swing angle based on state observer then we damp the sways using optimal controller LQR For this purpose the dynamic equations of the system including the crane and the motor would be obtained and the control block designed Then the results would be simulated in order to confirm the method accuracy Keywords Swing Angle Estimation Overhead Crane State Observer LQR Controller Oscillation damping PDF created with pdfFactory trial version www pdffactory com

محمد ابراهيمي

محسن مجيري

مهدي معلم، احمدرضا تابش