Further Research on an Anti-Swing Control System for Overhead Cranes
Abstract
A method of reducing load oscillations that occur when overhead crane reaches destination position is presented in the article. The use of control drive scheme of crane bridge and trolley that ensures a smooth phase trajectory transition of the load to the optimum trajectory in accordance with Pontryagin's maximum principle is proposed. Mentioned control system changes the magnitude or direction of the traction force at the moment when the load is located above the destination. It is found that the degree of change of the traction force depends on the hoisting rope deviation angle from vertical. This study was conducted in order to provide more accurate and fast handling of loads by overhead crane.
Keywords:
anti-swing control system, load, oscillations, overhead crane, Pontryagin’s maximum principleDownloads
References
N. Sun, Y. Fang, “New energy analytical results for the regulation of underactuated overhead cranes: an end-effector motion-based approach”, IEEE Transactions on Industrial Electronics, Vol. 59, No. 12, pp. 4723-4734, 2012 DOI: https://doi.org/10.1109/TIE.2012.2183837
K. C. C. Peng, W. Singhose, D. H. Frakes, “Hand motion crane control using radio-frequency real-time location systems”, IEEE/ASME Transactions on Mechatronics, Vol. 17, No. 3, pp. 464-471, 2012 DOI: https://doi.org/10.1109/TMECH.2012.2184768
J. Yi, N. Yubazaki, K. Hirota, “Anti-swing and positioning control of overhead traveling crane”, Information Sciences, Vol. 155, No. 1-2, pp. 19-42, 2003 DOI: https://doi.org/10.1016/S0020-0255(03)00127-0
M. Fliess, J. Levine, P. Rouchon, “A simplified approach of crane control via a generalized state-space model”, 30th IEEE Conference on Decision and Control, pp. 736-741, 1991
A. J. Ridout, “Anti-swing control of the overhead crane using linear feedback”, Australian Journal of Electrical and Electronics Engineering, Vol. 9, No. 1-2, pp. 17-26, 1989
G. G. Parker, B. Petterson, C. Dohrmann, R. D. Robinett, “Command shaping for residual vibration free crane maneuvers”, American Control Conference, pp. 934-938, 1995
B. Vikramaditya, R. Rajamani, “Nonlinear control of a trolley crane system”, American Control Conference, pp. 1032-1036, 2000 DOI: https://doi.org/10.1109/ACC.2000.876657
D. T. Liu, J. Q. Yi, D. B. Zhao, “Fuzzy tuning sliding mode control of transporting for an overhead crane”, International Conference on Machine Learning and Cybernetics, pp. 2541-2546, 2003
Y. Fang, W. E. Dixon, D. M. Dawson, E. Zergeroglu, “Nonlinear coupling control laws for a 3-DOF overhead crane system”, 40th IEEE Conference on Decision and Control, pp. 3766-3771, 2001
J. Yu, F. L. Lewis, T. Huang, “Nonlinear feedback control of a gantry crane”, 1995 American Control Conference, pp. 4310-4315, 1995
J. H. Yang, K. S. Yang, “Adaptive coupling control for overhead crane systems”, Mechatronics, Vol. 17, No. 2-3, pp. 143-152, 2007 DOI: https://doi.org/10.1016/j.mechatronics.2006.08.004
Y. Al-Sweiti, D. Soffker, “Modeling and control of an elastic ship-mounted crane using variable gain model-based controller”, Journal of Vibration and Control, Vol. 13, No. 5, pp. 657-685, 2007 DOI: https://doi.org/10.1177/1077546307074246
J. Huang J, Z. Liang, Q. Zang, “Dynamics and swing control of double-pendulum bridge cranes with distributed-mass beams”, Mechanical Systems and Signal Processing, Vol. 54-55, pp. 357-366, 2015 DOI: https://doi.org/10.1016/j.ymssp.2014.09.005
9 S. Lahres, H. Aschemann, O. Sawodny, E. P. Hofer, “Crane automation by decoupling control of a double pendulum using two translational actuators”, American Control Conference, pp. 1052-1056, 2000 DOI: https://doi.org/10.1109/ACC.2000.876661
Z. N. Masoud, A. H. Nayfeh, N. A. Nayfeh, “Sway reduction on quay-side container cranes using delayed feedback controller: simulations and experiments”, Journal of Vibration and Control, Vol. 11, No. 8, pp. 1103-1122, 2005 DOI: https://doi.org/10.1177/1077546305056300
A. H. W. Chun, R. Y. M. Wong, “Improving quality of crane-lorry assignments with constraint programming”, IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews), Vol. 37, No. 2, pp. 268-277, 2007 DOI: https://doi.org/10.1109/TSMCC.2006.887013
E. M. Abdel-Rahman, A. H. Nayfeh, Z. N. Masoud, “Dynamics and control of cranes: a review”, Journal of Vibration and Control, Vol. 9, No. 7, pp. 863-908, 2003 DOI: https://doi.org/10.1177/1077546303009007007
W. Singhose, W. Seering, N. Singer, “Residual vibration reduction using vector diagrams to generate shaped inputs”, Journal of Mechanical Design, Vol. 116, No. 2, pp. 654-659, 1994 DOI: https://doi.org/10.1115/1.2919428
W. Yu, M. A. Moreno-Armendariz, F. O. Rodriguez, “Stable adaptive compensation with fuzzy CMAC for an overhead crane”, Information Sciences, Vol. 181, No. 21, pp. 4895-4907, 2011 DOI: https://doi.org/10.1016/j.ins.2009.06.032
J. Smoczek, J. Szpytko, “Evolutionary algorithm-based design of a fuzzy TBF predictive model and TSK fuzzy anti-sway crane control system”, Engineering Applications of Artificial Intelligence, Vol. 28, pp. 190-200, 2014 DOI: https://doi.org/10.1016/j.engappai.2013.07.013
B. Spruogis, A. Jakstas, V. Gican, V. Turla, “Overhead crane anti-swing system based on the Pontryagin’s maximum principle”, Transport, Vol. 30, No. 1, pp. 61-68, 2015 DOI: https://doi.org/10.3846/16484142.2015.1020872
J. Klosinski, “Swing-free stop control of the slewing motion of a mobile crane”, Control Engineering Practice, Vol. 13, No. 4, pp. 451-460, 2005 DOI: https://doi.org/10.1016/j.conengprac.2004.04.007
V. K. Augustaitis, V. Gican, N. Sesok, I. Iljin, ”Computer-aided generation of equations and structural diagrams for simulation of linear stationary mechanical dynamic systems”, Mechanika, Vol. 17, No. 3, pp. 255-263, 2011 DOI: https://doi.org/10.5755/j01.mech.17.3.500
L. S. Pontryagin, V. G. Boltyanskij, R. V. Gamkrelidze, Mathematical theory of optimal processes, Nauka, 1969
Downloads
How to Cite
License
Authors who publish with this journal agree to the following terms:
- Authors retain the copyright and grant the journal the right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) after its publication in ETASR with an acknowledgement of its initial publication in this journal.
