Overhead crane control with LQR and pole placamnet methods by using MATLAB and simulink softvare

Nowadays cranes are the mostly used tools for transporting heavy loads from one place toanother. They are generally operated manually which causes unwanted oscillation movementof the load that causes danger to workers and surroundings.In this thesis, using two different control methods, controllers designed for the system to givethe desired position with minimum oscillation of the load. First we deal with widely usedcrane construction: the overhead crane. Modeled in 2 dof discrete state-space and systemcharacteristics obtained. These characteristics linearized and the main system model, which isthe linearizied digital state-space model, is shown. By using Simulink software; the systemmodel is transformed into visual form and the Matlab software is used for obtainingequations. Controllability, observability and servo system concepts are also represented.By estimator-observer design of the system, all state variables obtained and added to systemmodel. LQR linear quadratic regulator and pole placement methods are chosen as controllersand by taking into consideration of those two controller; the system responses obtained foreach. With adding disturbances to the obtained system, the disturbance responses of thesystem observed.Because of the varying mass of the loads, the feedback control systems obtained by feedbackcoefficients are tried on varying loads and plots analyzed. After all simulations done;conclusions made based on responses of the system to LQR and pole placement methods.Taking consideration the superiority and weakness of both controllers, the thesis is finalized.Both classical approach and Matlab command lines are used to overcome the mathematicalequations. All command lines that are used, added to the thesis.Keywords: Overhead crane, control theory, Matlab, Simulink, pole placement, LQR,observer design, linear controlx