Delayed Position-Feedback Controller for the Reduction of Payload Pendulations of Rotary Cranes

Masoud, Ziyad N.; Nayfeh, Ali H.; Al-Mousa, Amjed

doi:10.1177/1077546303009001750

Cited by 44 publications

(15 citation statements)

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“…Lagrangian approach was used to derive the equations of motion of the tower crane [18,19,[23][24][25][26][27][28][29]. The vector r L defining the payload position is given by …”

Section: Modeling Of Tower Cranementioning

confidence: 99%

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

El-Badawy

Shehata

2015

Nonlinear Dyn

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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.

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“…Lagrangian approach was used to derive the equations of motion of the tower crane [18,19,[23][24][25][26][27][28][29]. The vector r L defining the payload position is given by …”

Section: Modeling Of Tower Cranementioning

confidence: 99%

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

El-Badawy

Shehata

2015

Nonlinear Dyn

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“…The four-bar mechanism model, Fig. 3, has been used and validated in [19,23]. In this work, we use the doublependulum formulation to model the trolley, cable and hoist assemblies.…”

Section: Modelingmentioning

confidence: 99%

Nonlinear analysis of time-delay position feedback control of container cranes

Nayfeh

Baumann

2007

Nonlinear Dyn

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Time-delay feedback control of container cranes is robustly stable and insensitive to initial conditions for most of the linearly stable region. To better understand this robustness and any limitations of the technique, we undertake a nonlinear analysis of the system. To this end, we develop a nonlinear model of the crane system by modeling the crane-hoist-payload assembly as a double pendulum. Then, we derive a linear approximation specific to this model. Finally, we derive a cubic model of the dynamics for nonlinear analysis. Using linear analysis, we determine the gain and time delay factors for stabilizing controllers. Also, we show that the controller undergoes a Hopf bifurcation at the linear stability boundary. Using the method of multiple scales on the cubic model, we determine the normal form of the Hopf bifurcation. We then show that for practical operating ranges, the controller undergoes a supercritical bifurcation that helps explain the robustness of the controller.

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“…Using such controllers, systems' delays are carefully augmented into a larger delay period to enhance the damping characteristics [22]. In one demonstration, delayed feedback algorithms have been successfully implemented at the macroscale to mitigate potentially hazardous oscillations of suspended objects on various types of cranes [23][24][25] and active vibration control of externally excited macrobeams [26][27][28][29][30][31][32][33][34]. Most recently, the same idea was also adapted to control microcantilevers in dynamic force microscopy [35], to eliminate chaotic motions in taping-mode atomic force microscopy [36], for sensor sensitivity enhancement in nanomechanical cantilever sensors [37], and to control the quality factor in dynamic atomic force microscopy [21].…”

Section: Introductionmentioning

confidence: 99%

On primary resonances of weakly nonlinear delay systems with cubic nonlinearities

2010

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We implement the method of multiple scales to investigate primary resonances of a weakly nonlinear second-order delay system with cubic nonlinearities. In contrast to previous studies where the implementation is confined to the assumption of linear delay terms with small coefficients (Hu et al. in Nonlinear Dyn. 15:311, 1998; Ji and Leung in Nonlinear Dyn. 253:985, 2002), in this effort, we propose a modified approach which alleviates that assumption and permits treating a problem with arbitrarily large gains. The modified approach lumps the delay state into unknown linear damping and stiffness terms that are functions of the gain and delay. These unknown functions are determined by enforcing the linear part of the steady-state solution acquired via the method of multiple scales to match that obtained directly by solving the forced linear problem. We examine the validity of the modified procedure by comparing its results to solutions obtained via a harmonic balance approach. Several examples are discussed demonstrating the ability of the proposed methodology to predict the amplitude, softening-hardening characteristics, and stability of the resulting steady-state responses. Analytical results also reveal that the system can exhibit responses with different nonlinear characteristics near its multiple delay frequencies.

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Delayed Position-Feedback Controller for the Reduction of Payload Pendulations of Rotary Cranes

Cited by 44 publications

References 0 publications

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

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

Nonlinear analysis of time-delay position feedback control of container cranes

On primary resonances of weakly nonlinear delay systems with cubic nonlinearities

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