Speed control of a tower crane jib

This thesis studies the particular problems arising in the speed control of a jib crane due to the elasticity of the tower. Many types of classical and modern controller are applied taking into account the current limit of the drive system. It is shown that there is an optimal value of the proportional constant of a P controller in order to assure a quick start without tower oscillations. A technique for a quick start at low steady state speed has been introduced. Modern controllers can improve the crane behavior, but require supplementary measurements. In order to face the wind effects a PI controller is introduced.