Efficient control of a nonlinear double-pendulum overhead crane with sensorless payload motion using an improved PSO-tuned PID controller

Jaafar, Hazriq Izzuan; Mohamed, Zulkifli; Subha, Nurul Adilla Mohd; Husain, Abdul Rashid; Ismail, Fatimah Sham; Ramli, Liyana; Tokhi, M. O.; Shamsudin, Mohamad Amir

doi:10.1177/1077546318804319

Cited by 35 publications

(21 citation statements)

References 21 publications

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“…The robustness of the proposed controller is compared with the Incremental Hierarchical Sliding Mode Controller (IHSMC) ( Yunyun et al, 2008) and improved PSO-tuned PID controller (PSO-PID) (Jaafar et al, 2019). To check the transient performance and robustness of the proposed controller against system uncertainties and disturbances, four simulation scenarios are considered.…”

Section: Simulation Resultsmentioning

confidence: 99%

Nonlinear state feedback controller combined with RBF for nonlinear underactuated overhead crane system

Mary

Miry²,

Kara³

et al. 2021

JER is an international, peer-reviewed journal that publishes f

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This paper proposes a robust control scheme for an underactuated crane system. The presented scheme contains two control strategies, feedback control term and corrective control term, based on Radial Basis Function (RBF) neural networks. A feedback control term is deigned based on the nominal dynamic model of the controlled system. RBF neural networks have been used as adaptive control term to compensate for the system uncertainties and external disturbance. Lyapunov stability theorem has been used to derive updating laws for the weights of the RBF neural networks. To illustrate the robustness and effectiveness of the proposed controller, Matlab program is used to simulate the model of the nonlinear overhead crane system with the proposed control method, taking into account system uncertainties and external disturbance. Simulation results indicated superior control performance of the proposed control method compared to the other control methods used in the test.

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Section: Simulation Resultsmentioning

confidence: 99%

Nonlinear state feedback controller combined with RBF for nonlinear underactuated overhead crane system

Mary

Miry²,

Kara³

et al. 2021

JER is an international, peer-reviewed journal that publishes f

View full text Add to dashboard Cite

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“…This complicated physical phenomenon is called double-pendulum sway effects. The presence of doublependulum sway effects dramatically increases the complexity and nonlinearity of the dynamic equations over traditional single-pendulum models (Jaafar et al, 2019b;Sun et al, 2018). Therefore, in the process of manual operation, it is of engineering significance to study the anti-sway control of bridge crane in the random position locating, especially when considering the double-pendulum model.…”

Section: Introductionmentioning

confidence: 99%

A single and double closed-loop compound anti-sway control method for double-pendulum bridge cranes locating at random position

Xia

Wang

et al. 2021

Transactions of the Institute of Measurement and Control

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In the assembly workshops of some heavy special equipment, the bridge cranes for payload lifting often needs to be located frequently. However, the locating position is often determined by the operator, which is random and results in significant payload oscillation and difficulties in trolley positioning. Furthermore, in practice, the bridge crane always exhibits more complicated double-pendulum dynamics compared with single-pendulum crane. To solve these problems, this paper establishes the double-pendulum model of bridge crane. Derived from the proportional-derivative (PD) control, the single closed-loop is designed based on the hook oscillation during acceleration and transporting; when locating, the double closed-loop is presented by utilizing the position and the hook oscillation. Combining the two control methods, a single and double closed-loop compound anti-sway control (SDCAC) method for the bridge crane is proposed. On this basis, to improve the performance of the SDCAC system, the sequential quadratic optimization (SQP) method is adopted to optimize PD parameters. Besides, a novel bumpless transfer control method is proposed to realize the smooth transition between the two control modes. Finally, the simulations and experiments are conducted. The results demonstrate the effectiveness of the proposed method.

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“…Meanwhile, to improve the accuracy of real-time recognition of the permanent magnet synchronous motor model and its control performance over servo drive systems, a fractional-order and generalized predictive control (GPC) 2-degree-of-freedom PI control method is presented in Qiao et al, 30 but it is hardly implemented in practice since fractional control 31 and GPC 32 involve too many setting parameters. In addition, many scholars combine intelligent optimization with PID control [33][34][35] to effectively modify the performance of control systems. However, such control algorithms involve too much calculation and are hardly implemented in practical systems.…”

Section: Introductionmentioning

confidence: 99%

Design of modified 2-degree-of-freedom proportional–integral–derivative controller for unstable processes

Zhang

Zou

et al. 2020

Measurement and Control

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Concerning first-order unstable processes with time delays that are typical in chemical processes, a modified 2-degree-of-freedom proportional–integral–derivative control method is put forward. The system presents a two-loop structure: inner loop and outer loop. The inner loop is in a classical feedback control structure with a proportional controller intended for implementing stable control of the unstable process; the outer loop is in a 2-degree-of-freedom structure with feedforward control of set points, where the system’s tracking response of set points is separated from its disturbance response. To be specific, the system has a feedforward controller that is designed based on the controlled object models and mainly used for regulating the system’s set point tracking characteristics; besides, it has a feedback controller that is designed on the ground of direct synthesis of disturbance suppression characteristics to improve the system’s disturbance rejection. To verify the effectiveness, the system is put into a theoretical analysis and simulated comparison with other methods. Simulation results show that the system has good set point tracking characteristics and disturbance suppression characteristics.

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Efficient control of a nonlinear double-pendulum overhead crane with sensorless payload motion using an improved PSO-tuned PID controller

Cited by 35 publications

References 21 publications

Nonlinear state feedback controller combined with RBF for nonlinear underactuated overhead crane system

Nonlinear state feedback controller combined with RBF for nonlinear underactuated overhead crane system

A single and double closed-loop compound anti-sway control method for double-pendulum bridge cranes locating at random position

Design of modified 2-degree-of-freedom proportional–integral–derivative controller for unstable processes

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