OPTIMAL LQR CONTROL OF A PENDULUM BASED OVERHEAD CRANE USING THE WHALE OPTIMIZATION ALGORITHM

XIV International Conference on Industrial Engineering and Environmental Protection – IIZS 2024, str. 128-133

 

АУТОР / AUTHOR(S): Abdullah Çakan

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DOI: 10.46793/IIZS24.128C

САЖЕТАК / ABSTRACT:

This study represents an optimal LQR control approach to controlling the trolley movement of an overhead crane and sway reduction of its payload. The aim of the study is to improve the crane’s positioning accuracy and ensure smoother and safer operations with less swinging motion of payload. To achieve this, a Linear Quadratic Regulator (LQR) controller is proposed, which generates optimal control signal as input force. However, instead of manually tuning the LQR gains, The Whale Optimization Algorithm (WOA), a nature-inspired method that mimics the hunting behavior of whales, is used to tune control parameters. The results show that this LQR-WOA combination effectively improves the system’s stability, reducing oscillations efficiently and precisely the position of trolley. This approach offers a practical solution for industries where precise and safe overhead crane operation is essential. 

КЉУЧНЕ РЕЧИ / KEYWORDS:

Whale Optimization Algorithm, Linear Quadratic Regulator, overhead crane.

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