Nonlinear tracking control of a 3-D overhead crane with friction and payload compensations

Abstract

In this paper, a nonlinear adaptive control of a 3D overhead crane is investigated. A dynamic model of the overhead crane was developed, where the crane system is assumed as a lumped mass model. Under the mutual effects of the sway motions of the payload and the hoisting motion, the nonlinear behavior of the crane system is considered. A nonlinear control model-based scheme was designed to achieve the three objectives: (i) drive the crane system to the desired positions, (ii) suppresses the vibrations of the payload, and (iii) velocity tracking of hoisting motion. The nonlinear control scheme employs adaptation laws that estimate unknown system parameters, friction forces, and the mass of the payload. The estimated values were used to compute control forces applied to the trolley of the crane. The asymptotic stability of the crane system is investigated by using the Lyapunov method. The effectiveness of the proposed control scheme is verified by numerical simulation results.

Modeling and Control of Underactuated Three-Dimensional Overhead Crane Systems

“…Another issue in crane control is the uncertainty of the model e.g., friction nonlinearity, external disturbances like wind, flexibility of the cables etc. [2,9,39,40] used adaptation laws to estimate unknown system parameters. Then, they utilized estimated values to control the crane.…”

“…Table 3 shows some relevant references for adaptive crane control. Varying [42] 3D Crane Fixed [9,39] Varying [10,40,41,48] Model predictive control (MPC) is one of the advanced control methods that has been employed in the process crane control. [3,12,47].…”

Equilibrium path and load trajectory deflections for polar cranes in nuclear power plant

“…where r r = r 2 À r 1 , r p = ffiffiffiffiffiffiffiffiffiffiffiffiffiffi ffi p À r r 2 p , and p = p 2 11 + p 2 12 + p 2 13 . As for the internal tangent, b 2 À b 1 j j= p, as shown in Figure 24, then The common tangent of right internal (k = 3) x 1 = À x 2 = À 1 p p 11 r r + p 12 r p y 1 = À y 2 = À 1 p p 12 r r À p 11 r p…”

“…At present, there are many researches about cranes. Some studies [1][2][3][4] focused on the control of the load deflection considering the trolley moving while the crane hoisting or lowering, while some studies [5][6][7][8] discussed the dynamic responses of the crane structure. These studies solved many problems about the operation schemes and structural designs of the cranes.…”

Dynamic modelling and analysis of 3D overhead gantry crane system

“…A number of studies developed the dynamic representation and control design for 3D overhead gantry crane coordination. The effect of payload value on response of the system is study in [5][6]. The employment of dynamic crane model to de-termine an optimal speed that minimized load swing has been investigated and energy based nonlinear control for crane lifters has been reported in [7].…”