A 3D-Crane is connected to PC via data acquisition board. The three-dimensional model of industrial crane is a highly nonlinear MIMO system equipped with a dedicated system of sensors featuring a unique 2D angle measuring unit. The system is fully integrated with MATLAB/Simulink and operates in real-time. The software enables rapid prototyping of real-time control algorithms without the explicit need to write any C code. The model has three controlled DC motors and five position measuring wheel encoders. The tasks are as follows:
- Analysis of the system’s properties;
- Modeling of the system;
- Controller design;
- Execution of a real-time experiment and analysis of the results.