Crane Anti-Sway Control System Algorithm

Sergey, Enin; Omelchenko, Evgeniy; Ilia, Maksimov

doi:10.1109/peami.2019.8915227

Cited by 4 publications

(3 citation statements)

References 8 publications

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“…In the former case, a reliable acceptance test is facilitated by the direct kinematics calculations, whereas, in the latter case, CAD models can be used to check if the output of the HP conforms to the expected part model. In path planning applications with or without dynamic obstacle avoidance, the ASA can also be used for fast and safe autonomous vehicle and drone navigation (see related works for references), harbor crane guidance [ 65 ], and autonomous underwater vehicle navigation [ 66 ].…”

Section: Discussionmentioning

confidence: 99%

Adaptive Simplex Architecture for Safe, Real-Time Robot Path Planning

Ionescu

2021

Sensors

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The paper addresses the problem of using machine learning in practical robot applications, like dynamic path planning with obstacle avoidance, so as to achieve the performance level of machine learning model scorers in terms of speed and reliability, and the safety and accuracy level of possibly slower, exact algorithmic solutions to the same problems. To this end, the existing simplex architecture for safety assurance in critical systems is extended by an adaptation mechanism, in which one of the redundant controllers (called a high-performance controller) is represented by a trained machine learning model. This model is retrained using field data to reduce its failure rate and redeployed continuously. The proposed adaptive simplex architecture (ASA) is evaluated on the basis of a robot path planning application with dynamic obstacle avoidance in the context of two human-robot collaboration scenarios in manufacturing. The evaluation results indicate that ASA enables a response by the robot in real time when it encounters an obstacle. The solution predicted by the model is economic in terms of path length and smoother than analogous algorithmic solutions. ASA ensures safety by providing an acceptance test, which checks whether the predicted path crosses the obstacle; in which case a suboptimal, yet safe, solution is used.

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Section: Discussionmentioning

confidence: 99%

Adaptive Simplex Architecture for Safe, Real-Time Robot Path Planning

Ionescu

2021

Sensors

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“…Nowadays, there is a large amount of research in the field of control systems with anti-sway functions. Many of them [7,10,16,17,20,21,24,[26][27][28] use adaptive control methods based on fuzzy logic, sliding mode. They use various feedback sensors: gyroscopes, optical sensors, inclinometers.…”

Section: Discussionmentioning

confidence: 99%

“…However, the cost of such systems is relatively high for small-scale enterprises. Articles [14,20] describe popular approaches of anti-sway control, the article [16] show a control method of cranes with high-speed hoisting, articles [7,10,17,21,24,27] show a crane control method based on position and deflection angle feedback. The Systems contain sensors that are attached to a hook or rope (suspension).…”

Section: Introductionmentioning

confidence: 99%

Anti sway tuned control of gantry cranes

et al. 2021

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Load swaying is one of the most frequently occurring problems at production sites. The purpose of this work is to create a control system for the movement of an overhead crane with an anti-sway function. The Particle Swarm Optimization method has been used to find the controller coefficients. The crane movement with the anti-sway function should be implemented using a PLC (programmable logic controller) and have a high speed of operation. The frequency converter controls the speed of the drive that moves the crane. The main advantage of the system is its simplicity and low cost combined with the low swaying of the load. The oscillation amplitude with an angular speed regulator is two to three times less in comparison with the control system without the angular speed regulator. The presence of an angular speed regulator minimizes the impact of the load weight and the rope length. The efficiency of the simulator program for calculating angular speed has been tested and confirmed. Verification of the created mathematical model of the crane with experimental installation has been made. Article Highlights An efficient and low-cost anti-sway system for overhead cranes has been developed. The efficiency of the system was tested experimentally, the dependencies of the influence of factors on the sway angle were obtained. The selection of the regulator coefficients is implemented using the particle swarm optimization method coded in C++, which provides high-speed performance and the ability to integrate the algorithm into the PLC of the overhead crane control system.

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Studies of the Identification Control System of an Overhead Crane on its Layout

Kruglov,

Kovyrshin,

Kodenev

2024

Mehatronika, avtomatizaciâ, upravlenie

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The construction of a control system for a bridge crane operating in conditions of current parametric uncertainty and the impact of external disturbances, in particular, the impact of wind, is considered. The proposed control system is based on a scheme with an algorithm for current parametric identification, assigned an implicit reference model, which expresses requirements for the behavior of the carried load, with formation of a given speed of movement of the bridge crane trolley. The latter corresponds to the use of servo drives on modern cranes, in particular, based on asynchronous electric motors. The peculiarity of the proposed control system is that the sensor determining the coordinates of the cargo suspension movement is a combined sensor, which includes an angular velocity sensor and an accelerometer, and is located on the suspension next to the crane trolley. Described is a wall-mounted uniaxial model of a bridge crane created in laboratory conditions to study the proposed control method. Its control system comprises an asynchronous motor with an encoder controlled from a frequency converter and a programmable logic controller, which correspond to equipment of real crane control systems. The results of the study of the proposed control system in comparison with conventional manual control are presented. Investigations include movement to target point of two-variant load and empty suspension with two suspension lengths. The studies were carried out for vector control of a closed-loop electric motor and open-loop vector control without using an encoder.

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Crane Anti-Sway Control System Algorithm

Cited by 4 publications

References 8 publications

Adaptive Simplex Architecture for Safe, Real-Time Robot Path Planning

Adaptive Simplex Architecture for Safe, Real-Time Robot Path Planning

Anti sway tuned control of gantry cranes

Studies of the Identification Control System of an Overhead Crane on its Layout

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