A GPC-based Multi-variable PID Control Algorithm and Its Application in Anti-swing Control and Accurate Positioning Control for Bridge Cranes

Yang, Bin; Liu, Zhenxing; Liu, Huikang; Li, Yan; Lin, Shian-Ru

doi:10.1007/s12555-019-0400-2

Cited by 19 publications

(4 citation statements)

References 14 publications

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“…With the advantages of strong transport capacity and high operational flexibility, bridge crane has been extensively applied in modern industrial production [1][2][3]. During transportation, the trolley in the bridge crane system is subject to various interference from the outside world, which may cause the inevitable swinging of the load, unsatisfying working efficiency of the crane system, the possible rolling-off of the load, and ultimately leading to possible serious safety accidents.…”

Section: Introductionmentioning

confidence: 99%

A Time-Varying Sliding Mode Control Method for Distributed-Mass Double Pendulum Bridge Crane With Variable Parameters

et al. 2021

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This paper aims to explain the design of a novel time-varying sliding mode control of variable parameter (VP-TVSMC), which can effectively solve the anti-swing and positioning problem of distributed-mass double pendulum bridge crane system with its quick responsiveness and strong robustness to external interference. More specifically, this model initiates with the establishment of the dynamic equation of double pendulum crane model based on distributed-mass, then followed by the design of a time-varying parameter to realize the dynamic adjustment of the sliding mode surface and enhance the adjustment ability of the sliding mode surface, which is conducive to the global robustness of the double pendulum crane system under VP-TVSMC. With Lyapunov method and LaSalle's invariance principle, the asymptotic stability of the system can be sufficiently proved. Finally, the adoption of three kinds of external interference signals and uncertain system parameters successfully verified the preeminent control performance and global robustness against external interference of the proposed controller. The simulation results indicate that compared with the conventional CSMC, the proposed control method can reduce the driving force of the trolley, ensure the rapid and precise positioning of the trolley, as well as restrain the load swing angle within 5° in an effective manner. In addition, compared with the symbolic function sgn(S), the designed continuous function th(S) possesses a better anti-chattering effect, thus strengthening of the control performance of VP-TVSMC.INDEX TERMS Bridge crane, distributed-mass, time-varying sliding mode control, LaSalle's invariance principle, asymptotic stability, global robustness.

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Section: Introductionmentioning

confidence: 99%

A Time-Varying Sliding Mode Control Method for Distributed-Mass Double Pendulum Bridge Crane With Variable Parameters

et al. 2021

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“…In response to the above issues, domestic and foreign scholars have conducted extensive research on anti-swing control of cranes and proposed many excellent control methods, such as: PID (Proportional Integral Derivative) control, 6,7 sliding mode control, 8,9 energy control, [10][11][12] adaptive control, 13,14 observer control 15,16 and input shaping. 17,18 These control methods provide excellent suppression of load swing angle during crane operation.…”

Section: Introductionmentioning

confidence: 99%

Improved dynamic sliding mode control for plate hoisting of cable crane under wind load

Tong,

Xu,

Zhao

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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In order to quickly eliminate the swing angle of plate hoisting under wind load, an improved dynamic sliding mode control method is proposed in this paper. Firstly, the plate hoisting model under wind load is simplified into a double pendulum system, and the dynamic model of a double pendulum cable crane with wind disturbance is established. To enhance the coupling relationship between trolley displacement and double swing angle, a new coupling state vector for the double pendulum system is defined. On this basis, a dynamic sliding surface is constructed and then an integral function of the system’s discontinuous term is established, essentially ensuring the continuity of the sliding surface and reducing the system’s chattering characteristics. Finally, the stability of the system is rigorously proved by Lyapunov theorem and Barbalat lemma. The simulation and experimental results show that the controller proposed in this paper has a good effect on the anti-swing problem of plate hoisting under wind load.

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“…Closed-loop control can properly make up for the above defect, and the control performance is better. The existing closed-loop control methods mainly include proportional–integral–differential (PID) control (Aktas et al, 2019; Yang et al, 2020), sliding mode control (Frikha et al, 2018; Lu et al, 2017; Nguyen et al, 2022; Wang et al, 2018), adaptive control (Chen et al, 2019; Shen et al, 2021), fuzzy control (Aguiar et al, 2021; Guo and Chen, 2020), neural network (Fasih et al, 2020; Ramli et al, 2018), linear quadratic regulator (LQR) control (Feng et al, 2020; Gokul Prassad and Malar Mohan, 2019), and so on. The gain scheduling PID tuning control proposed (Aktas et al, 2019) considers the change of cable length caused by load lifting within the range of parameter scheduling.…”

Section: Introductionmentioning

confidence: 99%

An interval type-2 fuzzy linear quadratic regulator method for an overhead crane

Shao

Zhao

Zhang

et al. 2022

Transactions of the Institute of Measurement and Control

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The overhead crane systems contain parameter uncertainties and external disturbances, which will affect the control performance of the systems. To overcome this problem, an interval type-2 Takagi–Sugeno (T-S) fuzzy linear quadratic regulator (LQR) approach is proposed for overhead crane system in this paper. First, an interval type-2 T-S fuzzy model is constructed based on the nonlinear dynamic model of the overhead crane system. The type-2 model can capture the system uncertainties. Second, the fuzzy LQR is designed on the basis of the fuzzy model and the asymptotic stability of the closed-loop system is analyzed using Lyapunov method. Finally, simulations and experiments are studied. The results show that the proposed method can give the overhead crane system faster trolley positioning speed, smaller load swing, and better anti-disturbance ability than the existing LQR control method.

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A GPC-based Multi-variable PID Control Algorithm and Its Application in Anti-swing Control and Accurate Positioning Control for Bridge Cranes

Cited by 19 publications

References 14 publications

A Time-Varying Sliding Mode Control Method for Distributed-Mass Double Pendulum Bridge Crane With Variable Parameters

A Time-Varying Sliding Mode Control Method for Distributed-Mass Double Pendulum Bridge Crane With Variable Parameters

Improved dynamic sliding mode control for plate hoisting of cable crane under wind load

An interval type-2 fuzzy linear quadratic regulator method for an overhead crane

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