Cody G. Brown
This project was completed by myself, as a senior at Vermont Technical Collage. This sight goes over my senior capstone project (Anti-Sway Gantry Crane), and the steps involved.
Background
Vermont Tech has few interactive educational devices for college fairs, student college tours, and Vermont Tech events, especially for demonstrating control theory.
Proper implementation of control theory allows electromechanical projects to achieve better stability, speed, negate load stress spikes, and greater safety when exposed to the public.
Advancements in modern electronics and manufacturing has enabled the fabrication of complex robotics that are difficult to control with the common knowledge of control theory.
Problem Statement
Design and Fabricate a user friendly Gantry Crane and Controller that shows proper control theory as an educational instrument for Vermont Tech that allows for both automatic and manual control.
Performance Goals
The Gantry Crane must be able to translate between any two points along the slide within 5 seconds with no oscillation greater than 10 degrees from the neutral position.
key aspects
System Modeling
Through the use of Newton's Second Law of classical physics and the Lagrange's equation, the system of equations which describe the gantry crane are able to be created
Motor Control
By understanding how a DC motor works, a controller may be built to servo the motor's torque and position, to control the crane.
Controller Design
After the accurate system model is created, a controller may be built to force the system to behave as desired.
Project Presentation
Power Point Document:
Work
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