Optimisation of overhead crane

Overhead cranes are commonly used in industries for the displacement of materials. Overhead cranes are modelled. Various trajectories are generated based on the open loop scheme. So, optimal control models have been proposed including energy, swing and transportation time. For optimization SQP is used as the optimization technique. It includes objective function for energy, swing and transportation time. Various constraints need to be satisfied. Constraints include both equality and inequality constraints. Multi objective optimization is being performed for optimizing both time and energy at the same time. Genetic algorithm is performed. It is a biologically inspired process. Pareto front is obtained which shows the trade offs between energy and time. By taking slope of energy time graph acceleration is obtained which is fed as reference input to a PID controller and is controlled. The simulations obtained are given in detail.