Novel robust controller design for load sway reduction in double-pendulum overhead cranes

Abstract

It is seen that when the hook mass is larger than the load mass or the load has distributed mass property, the load sway of the crane system presents as double-pendulum effect. In this situation, crane system has two different natural frequencies so that the sway characteristic becomes more complex and greatly increases the difficulty of the dynamic performance analysis and controller design. Moreover, the rope length changes significantly affect the stability and control performance of the crane system. In order to solve the aforementioned problems, the linear dynamics of a two-dimensional overhead crane with double-pendulum effect is derived based on a disturbance observer, and is decoupled for controller design by modal analysis. Next, a state feedback controller is presented to achieve robust control performance for a given range of rope length changes. The controller gains are obtained via linear matrix inequality optimization method. Finally, numerical simulations and experimental results validate that the proposed method has superior control performance.

Tracking and load sway reduction for double‐pendulum rotary cranes using adaptive nonlinear control approach

“…Recently, some scholars have proposed a lot of methods for the double‐pendulum load sway suppression problem in crane systems . Jaafar et al presented a novel model reference command shaping approach to deal with the vibration reduction problem in a double‐pendulum overhead crane system .…”

“…Recently, some scholars have proposed a lot of methods for the double-pendulum load sway suppression problem in crane systems. [38][39][40][41][42][43][44][45][46][47][48][49][50][51][52][53][54][55][56] Jaafar et al presented a novel model reference command shaping approach to deal with the vibration reduction problem in a double-pendulum overhead crane system. 38 In addition, other similar input shaping-based methods were also reported in other works.…”

“…[39][40][41][42][43][44] Ouyang et al presented an S-shaped curve trajectory generation method and a composite controller, which is the combination of a PD controller and a disturbance observer, for overhead cranes. 45 In order to increase the robustness of crane system, an LMI-based controller was proposed in the work of Ouyang et al 46 In addition, two kinds of sliding mode-based control methods were also applied into overhead crane systems to achieve the trade-off problem between cart tracking and double-pendulum load sway suppression. 47,48 An energy-coupled method was applied into crane system.…”

An LMI‐Based Simple Robust Control for Load Sway Rejection of Rotary Cranes with Double‐Pendulum Effect

“…Furthermore, an input-shaping-based SIRMs fuzzy approach was reported in [37]. Ouyang et al reported two novel sliding-mode based approaches and a simple LMI-based robust method [38][39][40]. A nonlinear quasi-PID scheme and an adaptive nonlinear controller were applied to overhead cranes in [41,42].…”

“…In conclusion, although open-loop approaches were introduced in [27][28][29][30][31][32][33][34], accurate crane models were always needed. On the other hand, too complicated algorithms were adopted in [35][36][37][38][39][40][41][42] to achieve good robust or adaptive performance. Moreover, different from the load sways of double-pendulum overhead cranes which were dealt with in the most existing literatures [27][28][29][30][31][32][33][34][35][36][37][38][39][40][41][42], the double pendulums in the rotary crane system are both conical pendulums, and the system characteristics are more complex.…”