Position control of a suspended mass through two cables under the effects of the catenary

John M. Castillo Guerrero, Edgar V. Loja, Marco A. Carpio, Julio C. Viola, Roque J. Saltaren

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

The present article describes the use of controllers, using a profit planner algorithm, to stabilize a mass in a given reference point, using two steel cables and a metal rod, analyzing the catenary behavior of the cable in several points of operation of the system. To obtain a better uniformity of response, a control system was adopted, with reference signals type ramp, to stabilize smoothly and get to the reference quickly, in order to avoid the accelerated start of the three-phase motor and obtain better accuracy in the response of the system. The tuning of the controller is done in several stages, since being a system of non-linear type, proceeds to use the method of extended linearization, adjusting different parameters Kp, Ki and Kd, for the rise or fall of the mass due to the elongation and contraction of the cable. The graphs obtained visualize the solution of the problem and the action of the controllers in the corresponding stages, giving an efficient response to external disturbances, stabilizing the mass in the reference position given in each test performed.

Original languageEnglish
Title of host publication2019 IEEE International Autumn Meeting on Power, Electronics and Computing, ROPEC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728128986
DOIs
StatePublished - Nov 2019
Event2019 IEEE International Autumn Meeting on Power, Electronics and Computing, ROPEC 2019 - Ixtapa, Guerrero, Mexico
Duration: 13 Nov 201915 Nov 2019

Publication series

Name2019 IEEE International Autumn Meeting on Power, Electronics and Computing, ROPEC 2019

Conference

Conference2019 IEEE International Autumn Meeting on Power, Electronics and Computing, ROPEC 2019
Country/TerritoryMexico
CityIxtapa, Guerrero
Period13/11/1915/11/19

Bibliographical note

Funding Information:
This research was supported by: The Spanish Government Projects under Grant DPI2014-57220-C2-1-P, Grant PGC2018-095939-B-I00, in part by the “RoboCity2030 DIH-CM Madrid Robotics Digital Innovation Hub, S2018/NMT-4331” and funded by the “Programas Actividades I+D en la Comunidad de Madrid”, in part by Structural Funds of the EU, in part by GIIRA research group at Universidad Politécnica Salesiana, Ecuador, and the CAPES program of the Federal University of Rio de Janeiro, COPPE-Biomedical Engineering, Rio de Janeiro-Brasil.

Keywords

  • Catenary of the cable
  • Catenary of the cable, Digital PID Control
  • Digital PID Control; Extended Linearization; Non-linear system
  • Extended Linearization
  • Non-linear system

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