Linear Active Disturbance Rejection Control for Double-Pendulum Overhead Cranes

Chai, Lu; Guo, Qihang; Liu, Huikang; Ding, Mingmin

doi:10.1109/access.2021.3070048

Cited by 17 publications

(3 citation statements)

References 56 publications

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“…A more advanced one is the flat model of a double pendulum suspended from a horizontally moving trolley, such as a gantry or an overhead crane [17][18][19][20]. However, to get closer to real practical problems, flat models should be replaced with spatial ones (2D models should be replaced with 3D models).…”

Section: Literature Review and Problem State-mentmentioning

confidence: 99%

Spatial transportation of the beam on a bifilar fastening

Stadnik¹,

Podlesny²,

Kaporovych³

et al. 2022

FME Transactions

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The complex problem of the spatial motion of the "trolley-beam" mechanical system is investigated. Three stages are considered: 1) movement of the beam on a bifilar suspension to the movable trolley; 2) movement of the beam after the breakage of one branch of the suspension; 3) movement of the beam after the breakage of the second branch of the suspension. The study was carried out by creating mathematical models for each stage of the system movement and then conducting a numerical experiment using computer algebra. The tension of the ropes is calculated at the first and second stages of the system movement. Their extreme values are determined. The obtained results will be used in the further study of the system to reduce the tension of the rope and oscillation amplitude and to prevent accidents.

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Section: Literature Review and Problem State-mentmentioning

confidence: 99%

Spatial transportation of the beam on a bifilar fastening

Stadnik¹,

Podlesny²,

Kaporovych³

et al. 2022

FME Transactions

View full text Add to dashboard Cite

show abstract

“…Numerous methods have been proposed for different types of double pendulum crane systems, such as bridge cranes [4][5][6], tower cranes [7], gantry cranes [8,9] and boom cranes [10][11][12], which are mainly divided into feedback control and open-loop control. In detail, feedback control methods of the double pendulum crane system include proportional integral derivative (PID) control [13], state feedback control [14], sliding mode control [15], enhanced-coupling control [16], adaptive tracking control [17], fuzzy control [18], neural network control [19], etc.…”

Section: Introductionmentioning

confidence: 99%

Equivalent Rope Length-Based Trajectory Planning for Double Pendulum Bridge Cranes with Distributed Mass Payloads

Sun

Wang

2022

Actuators

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The hoisting form in which the payload is hung on the hook by two rigging ropes is widely used in the industry, but it also results in the complex double pendulum dynamic of the bridge crane, making the anti-swing trajectory planning full of challenges. In this paper, based on the concept of the equivalent rope length, an equivalent single pendulum model of the double pendulum bridge crane with the distributed mass payload is established. On this basis, the particle swarm optimization algorithm is adopted to solve the equivalent rope length and calculate the parameters of the anti-swing velocity trajectory based on the phase plane method. To evaluate the effectiveness of the proposed method, experiments with a laboratory double pendulum bridge crane are conducted. Experimental results demonstrate that the residual oscillation angle of the payload of the proposed method is smaller than those of the existing methods, such as the trajectory planning without the equivalent rope length, input shaping and command smoothing.

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“…An extensive review of both linear and non linear crane control techniques can be found in [15], [26]. Very recent references based on a linear approach can be found in [27]- [29]. The present contribution situates in the category of 2DoF FF/FB, where the FF input is obtained through a dynamic inversion procedure [30]- [33].…”

Section: Introductionmentioning

confidence: 99%

A Robust Offline Precomputed Optimal Feedforward Control Action for the Real Time Feedback/Feedforward Control of Double Pendulum Gantry Cranes

Orsini¹

2021

IEEE Access

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This paper deals with FeedBack/ FeedForward (FB/FF) control of double pendulum gantry crane systems with payloads taking values over arbitrarily large intervals. The new proposed 2DoF control architecture is aimed at: 1) to speed up the horizontal payload transportation while minimizing the tracking error with respect to a desired trajectory, 2) to minimize the sway angles amplitude. The main features of the control design procedure are: 1) the dynamic output FB control is designed in order to ensure the robust stability of the closed loop system and the steady-state exact payload positioning; 2) the FF control action is given by the optimally weighted sum of the two contributions due to FF Plant Inversion a (FFPI) and FF Closed Loop Inversion (FFCLI) control schemes; 3) the optimal robust FF control input is obtained as the solution of a min max optimization problem that can be solved offline with numerically efficient procedures; 4) the provided analytical closed form of the FF input in terms of a linear combination of polynomial Bsplines basis functions allows an easy implementation on commercial devices.INDEX TERMS gantry crane, 2DoF control, trajectory tracking, model inversion, B-spline input shaping.

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Linear Active Disturbance Rejection Control for Double-Pendulum Overhead Cranes

Cited by 17 publications

References 56 publications

Spatial transportation of the beam on a bifilar fastening

Spatial transportation of the beam on a bifilar fastening

Equivalent Rope Length-Based Trajectory Planning for Double Pendulum Bridge Cranes with Distributed Mass Payloads

A Robust Offline Precomputed Optimal Feedforward Control Action for the Real Time Feedback/Feedforward Control of Double Pendulum Gantry Cranes

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