Tensor product-based model transformation approach to tower crane systems modeling
Document Type
Journal Article
Publication Title
Asian Journal of Control
Volume
23
Issue
3
First Page
1313
Last Page
1323
Publisher
Wiley
School
School of Engineering
RAS ID
39732
Funders
Natural Sciences and Engineering Research Council of Canada / Unitatea Executiva pentru Finantarea Invatamantului Superior / Ministry of Research and Innovation, Romania Cercetarii, Dezvoltarii si Inovarii
Abstract
This paper presents the application of the tensor product (TP)-based model transformation approach to produce Tower CRrane (TCR) systems models. The modeling approach starts with a nonlinear model of TCR systems as representative multi-input–multi-output controlled processes. A linear parameter-varying model is next derived, and the modeling steps specific to TP–based model transformation are proceeded to obtain the TP model. The TP model is tested on TCR laboratory equipment in two open-loop scenarios considering chirp signals and pseudorandom binary step signals applied to the three model inputs (control inputs). The nonlinear and TP model outputs in the two scenarios are the payload position, the cart position, and the arm angular position. The nonlinear and TP model outputs are collected, measured, and compared. The simulation results prove that the derived TP model approximately mimics the behavior of the nonlinear model; both system responses and numerical approximation errors are illustrated.
DOI
10.1002/asjc.2494
Access Rights
subscription content
Comments
Hedrea, E. L., Precup, R. E., Roman, R. C., & Petriu, E. M. (2021). Tensor product‐based model transformation approach to tower crane systems modeling. Asian Journal of Control, 23(3), 1313-1323. https://doi.org/10.1002/asjc.2494