Simple rotary crane dynamics modeling and open-loop control for residual load sway suppression by only horizontal boom motion

Uchiyama, Naoki; Ouyang, Huimin; Sano, Shigenori

doi:10.1016/j.mechatronics.2013.09.001

Cited by 141 publications

(51 citation statements)

References 28 publications

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“…Specifically, Sun et al [10,11] present antiswing controllers to regulate the cargo position to the desired location asymptotically in the presence of ship roll and heave movements for offshore crane systems applied in modern ocean transportation and logistics. Moreover, existing methods also include input shaping [12][13][14][15], feedback control [16][17][18][19][20][21][22][23][24][25][26][27][28], intelligent control [29][30][31][32], and trajectory planning method [33][34][35][36]. Specifically, several input shapers are designed to reduce payload swing of bridge crane systems [12][13][14][15].…”

Section: Introductionmentioning

confidence: 99%

“…In addition to closed-loop control design, many studies also focus on the trajectory planning part and achieve meaningful results [33][34][35][36]. Uchiyama et al [33] generated an S-curve trajectory numerically, which can suppress the residual vibration without measuring it. Sun et al [34] obtained an analytical three-segment acceleration trajectory.…”

Section: Introductionmentioning

confidence: 99%

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Robust Control of Crane with Perturbations

Wu¹,

Chen²,

Yang³

2018

Adaptive Robust Control Systems

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In the presence of persistent perturbations in both unactuated and actuated dynamics of crane systems, an observer-based robust control method is proposed, which achieves the objective of trolley positioning and cargo swing suppression. By dealing with the unactuated and unknown perturbation as an augmented state variable, the system dynamics are transformed into a quasi-chain-of-integrators form based on which a reduced-order augmented-state observer is established to recover the perturbations appearing in the unactuated dynamics. A novel sliding manifold is constructed to improve the robust performance of the control system, and a linear control law is presented to make the state variables stay on the manifold in the presence of perturbations in unactuated dynamics. A Lyapunov function candidate is constructed, and the entire closed-loop system is proved rigorously to be exponentially stable at the equilibrium point. The effectiveness and robustness of the proposed observer-based robust controller are verified by numerical simulation results.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robust Control of Crane with Perturbations

Wu¹,

Chen²,

Yang³

2018

Adaptive Robust Control Systems

View full text Add to dashboard Cite

show abstract

“…Moreover, a comprehensive analysis on closedloop applications of input shaping has been done [24]. Recently, PID and S-shaped input are utilised to reduce the sway of a rotary crane [25]. Some researchers discussed optimal closed loop PID-PD control of gantry crane without input shaping [26].…”

Section: Introductionmentioning

confidence: 99%

An optimal performance control scheme for a 3D crane

Maghsoudi

Mohamed

Husain

et al. 2016

Mechanical Systems and Signal Processing

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“…In a more recent study, an open-loop controller to suppress load sway in rotary cranes was presented using only horizontal boom motion, and seems to be energy efficient and safe (Uchiyama et al, 2013). Although the developed approach removes the need to measure the load sway, it copes only with a simple model of rotary crane dynamics, compared with the current work that deals with a 3D rotary boom crane moving a payload to track complicated spatial trajectories.…”

Section: Introductionmentioning

confidence: 99%

Payload motion control of rotary gantry and luffing cranes using mechanical wave concepts

Habibi

O’Connor

2016

Transactions of the Institute of Measurement and Control

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A new solution is presented to the problem of controlling the motion of a crane's suspended load through arbitrarily complex, 3D paths through the crane's manoeuvre space. A generalized boom crane arrangement is considered, so that gantry and luffing arrangements are included as particular cases. Thus the crane's boom slews about a central, vertical (tower) axis. This boom is either a horizontal gantry with a trolley moving radially along it, from which the load can be winched, or a jib, which can rotate in the vertical plane, with the hoisting cable passing over a pulley attached at its end point. In either case, there are three directly controlled motion variables, the effects of which on the suspended payload's motion are strongly crosscoupled. The challenge is to enable the payload to follow the desired 3D path as closely as possible during the manoeuvre, and come to rest rapidly at target, by directly controlling these three actuating motions. Thus the controller must achieve position control combined with active swing suppression throughout the manoeuvre and on arrival at the desired end point. A model is developed of the generalized crane for both gantry and luffing crane types. The proposed control strategy is then applied and tested on this model. The controller is based on mechanical wave concepts. When applied to the model, it is shown to be very effective. It is accurate, robust to system changes and actuator limitations, very stable, requires sensing only at the trolley (and not at payload), and is easy to implement.

show abstract

Simple rotary crane dynamics modeling and open-loop control for residual load sway suppression by only horizontal boom motion

Cited by 141 publications

References 28 publications

Robust Control of Crane with Perturbations

Robust Control of Crane with Perturbations

An optimal performance control scheme for a 3D crane

Payload motion control of rotary gantry and luffing cranes using mechanical wave concepts

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