Dynamic Modelling and Feed-forward Control of an Overhead Crane

The article presents: modelling, simulation, and controller design of a laboratory overhead crane system. A nonlinear model was developed using Lagrange equation and linearization process is performed for the purpose of analysis and controller design. Accuracy of the linear model is assessed by comparing simulation results of nonlinear and linear dynamic equations. A feed-forward control based on a low-pass filter was designed based on the crane dynamics. The controller performance is discussed in terms of trolley position response and payload sway reduction. The proposed control approach is able to suppress the payload sway, but at the expense of a slight delay in the trolley motion