Alojz Slutej

Friction compensation of gantry crane model based on the B-spline neural compensator

Fast and accurate positioning and swing minimization of the containers and other loads in crane manipulation are demanding and in the same time conflicting tasks. For accurate positioning, the main problem is nonlinear friction compensation, especially in the low speed region. In this paper authors propose position controller realized as hybrid controller. It consists of the conventional linear state feedback controller with additional friction self-learning neural compensator in the feedforwad loop. Self-learning compensator is based on the B-spline artificial neural network which consists of the one hidden layer of the B-spline second order functions. The experimental results show that friction compensator is able to remove position error in steady state.

The Impact of the System Operating Point on the Accuracy of the AC Slip-Ring Motor Speed Estimation

An AC slip-ring motor speed estimation in the industrial crane control system is realized. Speed estimation is based on the rotor voltage frequency measurement. For the hardware implementation, ADMC300 DSP based unit is used. Speed estimation unit is included in the modular structure of the industrial crane control system. Authors investigate speed estimation algorithm solutions and implication of the system operating point on the estimation accuracy

Control of safety critical heavy industrial applications

The paper summarizes the most important advances of the used crane control technology in perspective of semi-automatic/automatic operation of Electrical Overhead Travelling (EOT) cranes. Those cranes are often used in the heavy industrial environment, typically steel-mill applications and crane container handling. Most of them need sensor and/or sensorless technology in order to realize specific tasks with very strict safety categorized regulations for most electro-mechanical motions. Operation in harsh environment has significant impact during the cranes manipulation phase of crane control devices. Faster and more productive cranes demand a highly efficient Real-Time Controller (RTC), as well as overriding system, to control actuators in the closed loop. Monitoring and production statistic as functional subset of the Real Time (RT) controller is not presented in details in this paper.

Multidrive control network link

This paper summarizes the most important features of the control network link as a part of the distributed multidrive system. The control network link used provides a real-time communication link between various clients or controllers in a complex system. This network is designed as a local communication network in accordance with ISOs seven-layer model for open system interconnection. It is used for the time critical, real-time communication within the distributed control system. A complex multidrive system as distributed multicontroller systems with several application controllers interconnected by a fast local communication link, is presented. Some basic features of the communication module demonstrate the usefulness of proposed access to the control link.