Time-Delay Algorithms for Damping Oscillations of Suspended Payload by Adjusting the Cable Length

Vyhlídal, Tomáš; Anderle, Milan; Bušek, Jaroslav; Niculescu, Silviu–Iulian

doi:10.1109/tmech.2017.2736942

Cited by 35 publications

(47 citation statements)

References 43 publications

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“…The third actuated DOF is the extension of the linear actuator (3), which is luffing the outer boom (6). The crane payload (9) is suspended from the crane tip by the cable (7). The payload used in the experiments is a hollow box with mass m = 12.7 kg and the dimensions are 223×223×241 mm.…”

Section: A System Descriptionmentioning

confidence: 99%

“…The payload used in the experiments is a hollow box with mass m = 12.7 kg and the dimensions are 223×223×241 mm. Two spherical markers (8) are attached to the cable (7). Three 2D cameras (10) are attached to the crane king (4), such that the cameras rotate with the slew motion of the crane.…”

Section: A System Descriptionmentioning

confidence: 99%

“…Another approach is closed-loop methods that are less sensitive to modeling errors and noise. A number of energy-based controllers for damping the payload oscillations have been proposed for overhead cranes, which were modeled as cartpayload systems [5], [6], [7], [8], [9]. A model predictive controller (MPC) is another type of a closed-loop controller that has been used in crane control by several authors.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Vision-based control of a knuckle boom crane with online cable length estimation

Tysse

Cibicik

Egeland

2020

IEEE/ASME Trans. Mechatron.

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A vision-based controller for a knuckle boom crane is presented. The controller is used to control the motion of the crane tip and at the same time, compensate for payload oscillations. The oscillations of the payload are measured with three cameras that are fixed to the crane king and are used to track two spherical markers fixed to the payload cable. Based on color and size information, each camera identifies the image points corresponding to the markers. The payload angles are then determined using linear triangulation of the image points. An extended Kalman filter is used for the estimation of payload angles and angular velocity. The length of the payload cable is also estimated using the least-squares technique with projection. The crane is controlled by a linear cascade controller where the inner control loop is designed to damp out the pendulum oscillation, and the crane tip is controlled by the outer loop. The control variable of the controller is the commanded crane tip acceleration, which is converted to a velocity command using a velocity loop. The performance of the control system is studied experimentally using a scaled laboratory version of a knuckle boom crane.

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Section: A System Descriptionmentioning

confidence: 99%

Section: A System Descriptionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Vision-based control of a knuckle boom crane with online cable length estimation

Tysse

Cibicik

Egeland

2020

IEEE/ASME Trans. Mechatron.

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“…In the control point of view, the main challenge is the oscillations caused by the external force and the movement of the robotic manipulator. Potter et al (2015); Chen et al (2016); Vyhlídal et al (2017) solved similar problems by controlling the base. In this paper, because the precise control of the base (helicopter) is not so trivial for our system, additional moving masses are installed to damp out the oscillations of the pendulum-like hanging platform.…”

Section: Introductionmentioning

confidence: 97%

Oscillation Damping Control of Pendulum-like Manipulation Platform using Moving Masses

et al. 2018

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This paper presents an approach to damp out the oscillatory motion of the pendulum-like hanging platform on which a robotic manipulator is mounted. To this end, moving masses were installed on top of the platform. In this paper, asymptotic stability of the platform (which implies oscillation damping) is achieved by designing reference acceleration of the moving masses properly. A main feature of this work is that we can achieve asymptotic stability of not only the platform, but also the moving masses, which may be challenging due to the under-actuation nature. The proposed scheme is validated by the simulation studies.

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“…It has strong robustness to the displacement of the payload, the change of the gantry crane parameters and the external disturbance. 2 of 20 trajectory planning-based control [8-10], inversion control [11], adaptive control [12-14], nested control [15], energy control [16-18], intelligent control [19-22], feedback linearization control [23], delay-based control [24,25], gain scheduled control [26], sliding mode control [27-29], prediction control [30-32], advanced robust control [33,34] etc.The control method mentioned above treats the payload swing as a swing of a single pendulum. The hook and payload are roughly considered to be the same mass point, or the hook is directly ignored.…”

mentioning

confidence: 99%

Research on Nonlinear Coupling Anti-Swing Control Method of Double Pendulum Gantry Crane Based on Improved Energy

Shi

et al. 2019

Symmetry

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The double pendulum type gantry crane is a typical symmetry underactuated motion system. It has control problems in that the swing of the payload is difficult to suppress and the precise positioning of the trolley is not accurate. A new nonlinear coupling control method based on improved energy is proposed in this paper. We define coupled control signal among trolley, hook and payload. An improved energy storage function is established based on the new coupling control signal. Consequently, a nonlinear anti-swing controller is constructed straightforwardly, and the closed-loop system stability is subject to strict mathematics analysis by Lyapunov and LaSalle’ s theorem. Moreover, the new energy function based on the coupling behaving between the trolley motion and the payload swing leads to the improved control performance. Numerical simulation results show that the proposed method has better performance than traditional controllers. It not only effectively suppresses the swing of the load and the hook, but also precisely controls the displacement of the trolley. It has strong robustness to the displacement of the payload, the change of the gantry crane parameters and the external disturbance.

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Time-Delay Algorithms for Damping Oscillations of Suspended Payload by Adjusting the Cable Length

Cited by 35 publications

References 43 publications

Vision-based control of a knuckle boom crane with online cable length estimation

Vision-based control of a knuckle boom crane with online cable length estimation

Oscillation Damping Control of Pendulum-like Manipulation Platform using Moving Masses

Research on Nonlinear Coupling Anti-Swing Control Method of Double Pendulum Gantry Crane Based on Improved Energy

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