Download Tower Crane - Alpha Control Lab

Tower Crane
The industrial tower crane model controlled from PC.
The control goal: to track a trajectory and not to swing the load.
1.
Introduction and general description
Tower Crane is a nonlinear electromechanical system having a complex dynamic
behaviour and creating challenging control problems. It is controlled from a PC. Therefore it
is delivered with hardware and software which can be easily mounted and installed in a
laboratory. You obtain the mechanical unit together with the power supply and interface to
the PC and the dedicated digital board configured in the Xilinx technology. The software
operates under MS Windows using MATLAB and RTW toolbox package.
Besides the hardware and the related software you obtain User’s Manual.
The manual:
• shows step-by-step how to design and generate your own real-time controller in the
MATLAB/Simulink environment,
• contains the library of ready-to use real-time controllers,
• includes the set of preprogrammed experiments.
x axis drive
cart
x axis
z axis drive
z axis
angle sensors
θ angle
rotary direction
drive
Fig. 1.1 The Tower Crane setup
Tower Crane - User’s Manual
5