G. El Bez. FG Mess- und Regelungstechnik, Universität Kassel, Internship, (Mai 2015)
This report describes the design of a heuristic algorithm using a
simulation on MATLAB®/Simulink® to successfully steer a crane model
based on an experimental system which is the “The Loading Bridge
PC60”. This work will be principally used for didactic purposes in
order to carry out some practical works for the students. Two different
models of the crane, a simplified and a complex one, were developed
to obtain a simulation on MATLAB® /Simulink® . So that, it is possible
to collect some necessary data to implement the heuristic algorithm.
For the simplified model, the physical laws of mechanics were applied
to deduce the mathematical model. However, for the complex model
of the crane, a complete simulation on SimMechanics® , a extended
software of MATLAB® /Simulink®, was designed. The main parameters
of the used models are defined in order to fit the real system’s
ones. A summary of the tests carried out on both models so as to
validate them is detailed in this report. Based on the results achieved,
a first heuristic algorithm is designed using the Least Mean Square
(LMS) approximation to seek for the optimal steering functions.
