Load swing rejection for double-pendulum tower cranes using energy-shaping-based control with actuator output limitation

Ouyang, Huimin; Tian, Zheng; Yu, Lili; Zhang, Guangming

doi:10.1016/j.isatra.2020.02.013

Cited by 33 publications

(13 citation statements)

References 26 publications

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“…Newton's, triangulation and Geiger iteration) will not be applicable to condition monitoring. 3,5,55 Therefore, the AE point-by-point monitoring method is utilized in this study to achieve online monitoring of specific areas. Subsequently, seven AE sensors are, respectively, arranged on the metallic structures of crane with large working stress and serious stress concentration area to complete the effective monitoring of damage degree (see Figure 11(b)-(h)).…”

Section: Case 2: Practical Engineering Application Data Of Cranementioning

confidence: 99%

“…1 In engineering construction, the crane application environment is becoming increasingly complex and the application intensity continues to increase, thus the potential security risks are also increasing gradually. [2][3][4] Specifically, due to the increased difficulty of identification, important parts of the crane (e.g. balance beam, A-frame, tie-rod, fly-jib and cargo boom) are prone to localized damage, which causes downtime of the entire large hoisting machinery system.…”

Section: Introductionmentioning

confidence: 99%

“…Besides, the installation of AE sensors is generally focused on four aspects: (1) Measuring points can accurately reflect the health condition of the key components of crane. (2) The overall arrangement of AE sensors can cover multiple components and reveal the working condition of crane in real time (3). The location of AE sensors should provide a complete picture of the crane's condition under various working conditions.…”

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confidence: 99%

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Acoustic emission and moving window-improved kernel entropy component analysis for structural condition monitoring of hoisting machinery under various working conditions

Yang

2021

Structural Health Monitoring

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Acoustic emission (AE) has been widely used to the nondestructive evaluation (NDE) and structural health monitoring (SHM) of hoisting machinery recently. Kernel entropy component analysis (KECA) is generally applied to extract the AE features based on its excellent nonlinear ability. However, traditional KECA specifically requires a considerable number of components (e.g. eigenvalues and eigenvectors) to excellently describe the original data, which leads to a reduction in the effect of approximate dimensionality reduction of high-dimensional data, thus causing readily unacceptable condition monitoring result. To overcome this weakness, a novel method named moving window-improved kernel entropy component analysis (MW-IKECA) is proposed in this study for structural condition monitoring of hoisting machinery, which is aimed at extracting more AE feature information and improving the condition identification accuracy. Firstly, a twiddle factor is introduced in the KECA model for the purpose of breaking the restriction that the projection axes originate only from the feature vectors and maximizing the independence between the components. Meanwhile, the moving window local strategy is incorporated into the proposed IKECA to extract more rich and effectiveness AE feature information at different scales. Finally, the Cauchy–Schwarz (CS) statistic is utilized to calculate the similarity between probability density functions and maintain the angular structure of the MW-IKECA feature space for the task of improving the monitoring accuracy and shortening the monitoring time-delay of MW-IKECA. Results of the experimental and practical engineering application validate the effectiveness and superiority of the proposed method in AE-based crane SHM under different working conditions compared with the traditional KECA and some combinatorial methods.

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Section: Case 2: Practical Engineering Application Data Of Cranementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

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Acoustic emission and moving window-improved kernel entropy component analysis for structural condition monitoring of hoisting machinery under various working conditions

Yang

2021

Structural Health Monitoring

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“…One‐step method can deal with input saturation via limiting the output amplitude of actuator at initial period of controller design 34 . Considering the fact that the output torque/force cannot be infinite, Ouyang et al 35 propose an energy‐shaping‐based nonlinear controller with limited output value for double‐pendulum tower cranes. Gu et al design a saturated input based sliding mode controller for 2D overhead cranes with the input saturation 36 .…”

Section: Introductionmentioning

confidence: 99%

Fixed time robust control for tower cranes with unmatched disturbances and input saturation

Hong

et al. 2023

Adaptive Control & Signal

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To address the challenging problem of fixed-time anti-sway and positioning control for tower cranes with uncertain disturbances and input saturation, a novel fixed-time anti-saturation robust algorithm is proposed. First, on the basis of a newly designed fixed-time convergence system, a fixed-time disturbance observer (FTDO) is developed to estimate the matched and unmatched disturbances. Then, an anti-saturation compensator is employed to deal with the input saturation and make the control input leave the saturated region rapidly. Upon which, a novel non-singular fast terminal sliding mode surface is presented. Furthermore, in order to ensure the stability of each subsystem, a hierarchical sliding mode surface taking into account unmatched disturbances and input saturation is designed. Finally, the FTDO based hierarchical sliding mode control law is introduced to improve the transient control performance and robustness of tower cranes. The fixed-time convergence of the closed-loop system is proved by Lyapunov technique. Numerical simulations for four scenarios demonstrate the validity of the presented control scheme and fastest convergence speed in comparison to the recently proposed fixed-time control methods.

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“…Lu et al proposed an enhanced coupling adaptive control method for the variable rope length double-pendulum bridge crane system, and the effectiveness of the method was verified by platform experiments [19]. In order to realize the trolley positioning and payload swing suppression in the double-pendulum bridge crane system, Ouyang et al proposed a controller based on energy shaping [20]. Giacomelli et al aimed at the residual swing of the payload in the double-pendulum bridge crane system.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy Adaptive Controller Design for Double-pendulum Tower Crane with Distribute Mass Payload

Sun

Ouyang

2021

Preprint

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As a kind of high-efficiency transportation tools, tower cranes are widely used in construction site. With the increasing volume and mass of payload being transported, the researches of distributed mass payload (DMP) problems have been paid more and more attentions. However, most of the existing control algorithms designed for the concentrated mass payload (CMP) are not enough to meet the needs of actual production. The difference between DMP and CMP is mainly manifested in that the remaining payload swing caused by inertial torque of DMP cannot be effectively suppressed, which leads to safety hazards. In addition, due to the different working environment, accurate system parameters (such as mechanical frictions, air frictions ) are hard to obtain, which leads to errors in their positioning. To solve the above issues, first, we establish mathematical model of a double-pendulum tower crane with distributed mass payload (DTCDMP) and carry out dynamic analysis. Then we propose a fuzzy adaptive control method, which has a good tracking effect against external disturbances and parameter uncertainties, and the method can achieve accurate positioning and effective anti-swing. Then, the Lyapunov technology and LaSalle's invariance principle are used to rigorously prove the stability of the system. Finally, on the basis of tracking the S-shaped trajectories, the effectiveness and robustness of the proposed controller are verified through multi-group comparative experiments.

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Load swing rejection for double-pendulum tower cranes using energy-shaping-based control with actuator output limitation

Cited by 33 publications

References 26 publications

Acoustic emission and moving window-improved kernel entropy component analysis for structural condition monitoring of hoisting machinery under various working conditions

Acoustic emission and moving window-improved kernel entropy component analysis for structural condition monitoring of hoisting machinery under various working conditions

Fixed time robust control for tower cranes with unmatched disturbances and input saturation

Fuzzy Adaptive Controller Design for Double-pendulum Tower Crane with Distribute Mass Payload

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