Anti-sway control of marine cranes under the disturbance of a parallel manipulator

Abstract

Cranes are used to move loads from one location to another in minimum time such that the load reaches its destination without swinging. This swinging problem gets aggravated in the presence of external disturbances such as in the case of marine cranes. This paper investigates the modeling of a tower crane model and different types of control schemes for both anti-swaying and input tracking control for the tower crane model under continuous external disturbances. The input shaping technique was applied for a tower crane model under continuous external disturbance. Then a closed-loop PID input shaper was implemented instead of the open-loop input shaper to compensate for the external disturbances. Also the response of the closed-loop PID input shaper was compared to a controller based on inverse dynamics. Environmental disturbances such as sea waves were simulated by the movement of a Stewart platform.

Modeling and Control for a Multi-Rope Parallel Suspension Lifting System under Spatial Distributed Tensions and Multiple Constraints

“…Such a multi-rope system has long flexible suspension ropes in parallel, moving towards deeper mine wells or ocean waters. Since the suspension rope of the multi-rope parallel suspension system is flexible, the transverse vibration of the flexible suspension rope induced by an unknown boundary disturbance, suggests that distributed and concentrated force is inevitable that limits the utility of the systems [3,4]. Transverse vibration of the system should be controlled and suppressed to avoid premature fatigue failure.…”

Tracking Control and Vibration Reduction of Flexible Cable-Suspended Parallel Robots using a Robust Input Shaper

“…The marine cranes su er from swinging problem, particularly in the presence of sea disturbances. Elbadawy and Shehata proposed a closed-loop PID input shaper for point-topoint motion without swinging [22]. In the experiment, they mounted the crane on a Stewart manipulator to simulate the sea disturbances.…”

Trolley Motion Control Based on S-shaped Velocity Profile for Quay Crane Cargo Oscillation Comparison

“…They are used to move cargo from ship to store in a minimum time so that the load reaches its destination without swinging. The main control objective is to move the trolley to a required position as fast as possible with low payload oscillation (Elbadawy, Shehata 2015;Majid et al 2013). In the container transportation industry, the loading velocity is an important issue as it translates into seaport productivity and efficiency.…”

“…It is practically impossible to completely remove payload oscillations in all possible situations. External disturbances such as wind, weather or operator actions can easily initiate an oscillation (Elbadawy, Shehata 2015). This unavoidable cargo oscillations (Béarée 2014).…”