Nonlinear Modeling and Control of Overhead Crane Load Sway

Abstract

In this paper, we derive a nonlinear dynamical model for an overhead crane. The model takes into account simultaneous travel and transverse motions of the crane. The aim is to transport an object along a specified transport route in such a way that the swing angles are suppressed as quickly as possible. We develop an antiswing control system which adopts a feedback control to specify the crane speed at every moment. The gain matrix is chosen such that a desired rate of decay of the swing angles is obtained. The model and control scheme are simulated on a digital computer and the results prove that the feedback control works well.

Nonlinear coupling control laws for an underactuated overhead crane system

“…q + m p gL (1 0 cos()) 0: (19) After taking the time derivative of (19), substituting (1) for M (q) q(t), utilizing (4), and canceling common terms, the following expression can be obtained:…”

“…Remark 2: As in [19], the crane dynamic model given in (1)- (3) exploits a projection of the payload angle along the X-Coordinate axis, denoted by (t). By injecting this artificial state, the dynamic model can be written in a manner that facilitates the development of controllers that achieve the control objective; unfortunately, the overall stability analysis is complicated by the fact that another unactuated state is injected into the system.…”

“…Specifically, Moustafa and Ebeid [19] derived the nonlinear dynamic model for an overhead crane and then utilized a standard linear feedback controller based on a linearized state space model. In [20] Jansen developed a generalized input shaping approach for the linearized crane dynamics that exploited a notch filtering technique to control the motion of the bridge/trolley of an overhead crane system.…”

An input shaping controller enabling cranes to move without sway

“…In this approach, the constraint equations are multiple versions of (l), (2) , (3), and a fixed shaper duration:…”

Autonomous Overhead Crane System Using a Fuzzy Logic Controller

“…Boustany and d'Andrea-Novel (1992) used an adaptive control technique based on feedback linearization1 however, only simulation results were presented. Moustafa and Ebeid (1988) derived a nonlinear dynamic model that considers travel and transverse motions of the crane. Later, Lee (1998) expanded it to a three-dimensional (3D) dynamic model that considers all crane motions including load hoisting.…”