Dynamics and Control of Cranes: A Review

Abdel‐Rahman, Eihab; Nayfeh, Ali H.; Masoud, Ziyad N.

doi:10.1177/1077546303009007007

Cited by 466 publications

(286 citation statements)

References 102 publications

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“…These have been well reviewed in [29]. As the scope of this paper focuses on the motion planning methods, five trajectory references mentioned in [9,25,8] are analyzed in this section.…”

Section: Literature Reviewmentioning

confidence: 99%

Optimal motion planning for overhead cranes

Xia

2014

IET Control Theory & Applications

147

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Overhead cranes are widely used in industrial applications for material displacing. Many linear or nonlinear control schemes have been proposed for overhead cranes and implemented on electronic systems, but energy efficiency of transportation has seldom been considered in motion planning. This paper aims at finding an optimal solution of motion planning in terms of energy efficiency for overhead cranes. Using the optimal control method an optimal trajectory is obtained with less energy consumption than the compared trajectories and is also satisfying physical and practical constraints such as swing, acceleration, and jerk. Besides the energy optimal model, we also propose two other models to optimize time efficiency and safety during transportation. The results obtained have been compared with some existing motion trajectories, and have been shown to be superior to these benchmarks in terms of energy efficiency, time efficiency and safety respectively.

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“…These have been well reviewed in [29]. As the scope of this paper focuses on the motion planning methods, five trajectory references mentioned in [9,25,8] are analyzed in this section.…”

Section: Literature Reviewmentioning

confidence: 99%

Optimal motion planning for overhead cranes

Xia

2014

IET Control Theory & Applications

147

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“…One of the advantages of the input shaping is that this method doesn't need the accuracy dynamic model of the system, it only need the frequency and the damping ratio of the system. Taking a ZV input shaper as an example as shown in Figure 2, the input velocity of the trolley is 1 V when the input time is 1 t , and the input velocity of the trolley is 2 V when the input time is 2 t . This is similar when the trolley decelerated motion In order to precise positioning for the payload, the displacement of the payload is a constant.…”

Section: The Motion Planning Controlmentioning

confidence: 99%

“…Many research groups [1] have done their great effect for the motion planning of overhead crane. A synopsis of crane system dynamics [2] that incorporates the effects of nonlinear drives and motors was derived.…”

Section: Introductionmentioning

confidence: 99%

The Motion Planning of Overhead Crane Based on Suppressing Payload Residual Swing

Liu

Cheng

2016

MATEC Web of Conferences

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Abstract. Since the overhead crane system is subject to under actuation system due to that overhead crane and payload are connected by flexibility wire rope. The payload generates residual swing when the overhead crane is accelerating/ decelerating the motions. This may cause trouble for the payload precise positioning and motion planning. Hence, an optimization input shaping control method is presented to reduce the under actuated overhead crane's payload swing caused via the inertia force. The dynamic model of the overhead crane is proposed according to the physics structure of the crane. The input shaper based on the motion planning of the crane is used as the feed forward input to suppress payload residual swing. Simulation and experiment results indicate that the ZV input shaper and ZVD input shaper can reduce the payload swing of the overhead crane.

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“…The system can be described as under-actuated: only the trolley is directly controlled, and it must indirectly control the swinging load at the far end of the cable. Performance can be measured under various headings, including minimization of sway during motion or on arrival at target, tracking desired motion paths, accurate repositioning payloads in target within the shortest possible time, maximum repetition rate, and safety (Abdel-Rahman et al, 2003). Even with no external disturbances, the trolley motion can cause significant payload pendulation, especially when the dynamics are more complex.…”

Section: Introductionmentioning

confidence: 99%

Gantry crane control of a double-pendulum, distributed-mass load, using mechanical wave concepts

O’Connor

Habibi

2013

Mech. Sci.

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Abstract. The overhead trolley of a gantry crane can be moved in two directions in the plane. The trolley is attempting to control the motion of a suspended, rigid-body, distributed mass load, supported by a hook, modelled as a lumped mass, in turn connected to the trolley by a light flexible cable. This flexible system has six degrees of freedom, four variables describing the flexible, hanging load dynamics and two (directly controlled) input variables for the trolley position. The equations of motion are developed and the crane model is verified. Then a form of wave-based control (WBC) is applied to determine what trolley motion should be used to achieve a reference motion of the load, with minimum swing during complex manoeuvres. Despite the trolley's limited control authority over the complex, flexible 3-D dynamics, WBC enables the trolley to achieve very good motion control of the load, in a simple, robust and rapid way, using little sensor information, with all measurements taken at or close to the trolley.

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Dynamics and Control of Cranes: A Review

Cited by 466 publications

References 102 publications

Optimal motion planning for overhead cranes

Optimal motion planning for overhead cranes

The Motion Planning of Overhead Crane Based on Suppressing Payload Residual Swing

Gantry crane control of a double-pendulum, distributed-mass load, using mechanical wave concepts

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