Estimação de Parâmetros de Sistemas de Guindaste tipo Overhead Crane

Carlos Eduardo Pedroso de Oliveira; Renato Ventura Bayan Henriques; Lucíola Campestrini

doi:10.20906/CBA2022/3303

Carlos Eduardo Pedroso de Oliveira Departamento de Sistemas Elétricos de Automação e Energia, UFRGS, Av. Osvaldo Aranha, 99, 90035-190 Porto Alegre, RS
Renato Ventura Bayan Henriques Departamento de Sistemas Elétricos de Automação e Energia, UFRGS, Av. Osvaldo Aranha, 99, 90035-190 Porto Alegre, RS
Lucíola Campestrini Departamento de Sistemas Elétricos de Automação e Energia, UFRGS, Av. Osvaldo Aranha, 99, 90035-190 Porto Alegre, RS

DOI: https://doi.org/10.20906/CBA2022/3303

Keywords: Parameter estimation, Non-linear systems identification, Optimization, Gantry crane, 3D model

Abstract

Gantry crane systems are widely applied in the industry for cargo transportation. Aiming to provide a system model for the application of control techniques, this work performs the estimation of parameters of gantry crane system’s 3D models. Estimators based on the linearized model and the non-linear model of the system are proposed. The impact of the adopted discretization method is also analyzed, comparing Euler and Runge-Kutta methods. With the results obtained, smaller estimation errors were observed in the estimators with discretization using Runge-Kutta method, and no significant differences were observed when using the linearized or non-linear model.