Model Predictive Control with Flatness Based Linear Programming for the Single Mast Stacker Crane
Sprache des Vortragstitels:
Steirisches Seminar über Regelungstechnik und Prozessautomatisierung auf Schloss Retzhof
Sprache des Tagungstitel:
This presentation deals with model predictive control (MCP) for a stabilization of a time-optimal motion of a single mast stacker crane (SMC) (see Fig. 1), which is used for an automatic storage or retrieval of payloads in automated warehouses. The mathematical model of the plant is a distributed parameter one, but it admits an excellent approximation by a flat lumped parameter system. To reduce a working time and to increase the SMC productivity a time-optimal strategy is chosen. It is shown that the approximated system can be simplified further and a linear time-varying system can be considered for the control design. MPC
is chosen to stabilize the trajectory and fulfill certain state and input constraints. MPC is derived by implementing linear parametric optimization, where flatness of the model is
exploited. The linear time-varying model is parametrized by the flat output. The optimization task for the MPC is formulated in a form of a linear program, which is solved by means of an open-source optimization software lpsolve. Finally, simulation results are presented.