functiondesignCraneController
Design pole assignment and LQ controller for an overhead crane
Information
This example demonstrates how to design a lq-controller or a pole placement controller respectively. Compared with example craneController, the plant is smaller to achieve suitable dynamics for animation. The feedback matrices and a simple pre filter for tracking are save to MATLAB files which can be used in ModelicaController library.
It is also shown how to linearize a model of a crane trolley system [1]. The linear model is used as a base for control design
References
- [1] Föllinger O.:
- Regelungstechnik.
Hüthig-Verlag.
Inputs
| Type | Name | Default | Description |
|---|---|---|---|
| String | modelName | "Modelica_Controller.Examples.Components.Pendulum_small" | name of the model to linearize |
| Complex[4] | pa | {-3.5 + 0*j, -3.5 + 0*j, -3.5 - 0.5*j, -3.5 + 0.5*j} | assigned poles |
Outputs
| Type | Name | Default | Description |
|---|---|---|---|
| Real[:,:] | K_lq | feedback matrix LQ controller | |
| Real[:,:] | K_pa | feedback matrix pole assignment controller | |
| Real[:,:] | M_lq | pre filter LQ controller | |
| Real[:,:] | M_pa | pre filter pole assignment controller |