SIMULATION AND IMPLEMENTATION OF DIFFERENT CONTROLS IN DISCRETE TIME FOR A GANTRY-CRANE SYSTEM

The mobile gantry-crane system is a mechanism used to move loads from one place to another in industrial processes, where the mobilization is carried out in the shortest possible time, without neglecting the stability of the system, especially that of load, which allows determining the behavior's quality. The mathematical modeling corresponding to the system is carried out. The controls considered are PID controls (continuous-discrete and discrete-discrete), root locus and frequency compensator, system override, dead beat and servo system, in order to find the one that presents the best performance in terms of the error and robustness. To verify its good behavior from disturbances and parametric changes, the cascade control technique is used, where priority is given to the stability of the load (pendulum angle). The proposed controllers are implemented in a physical system to make the comparison between the results obtained. Programming is developed using an ARM Cortex-M7 core® microcontroller.