Transportation task-oriented trajectory planning for underactuated overhead cranes using geometric analysis

Sun, Ning; Zhang, X.; Fang, Yongchun; Yuan, Yinghai

doi:10.1049/iet-cta.2011.0587

Cited by 113 publications

(103 citation statements)

References 20 publications

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“…1) is based on three-phase acceleration trajectory (Sun et al 2012). This type of velocity profile is mostly used for overhead cranes (Xuebo et al 2013;Sun et al 2011;Sun et al 2012). However, the infinite jerk problem, restricting the application of this profile.…”

Section: Motion Profiles and Control Systemmentioning

confidence: 99%

Trolley Motion Control Based on S-shaped Velocity Profile for Quay Crane Cargo Oscillation Comparison

Eglynas

Bogdevičius

Andziulis

et al. 2017

Science - Future of Lithuania

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Quay cranes are used to move containers from ship to store in minimum time so that the load reaches its destination without payload oscillation. During the operations, containers are suspended by cables and it’s free to swing by motion. This paper investigates the two different velocity profiling techniques used for quay crane control and cargo stabilization. A laboratory scaled model of a crane is used to experimentally research, where the trolley acceleration is used as input, for suppressing the container sway. The residual cargo oscillation problems using different velocity profiles are discussed.

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Section: Motion Profiles and Control Systemmentioning

confidence: 99%

Trolley Motion Control Based on S-shaped Velocity Profile for Quay Crane Cargo Oscillation Comparison

Eglynas

Bogdevičius

Andziulis

et al. 2017

Science - Future of Lithuania

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show abstract

“…These have been well reviewed in [29]. As the scope of this paper focuses on the motion planning methods, five trajectory references mentioned in [9,25,8] are analyzed in this section. For the same specific overhead system, we have plotted these five trajectories in Figure 2.…”

Section: Literature Reviewmentioning

confidence: 99%

“…In [30,9], a symmetric three-segment trajectory is proposed to eliminate the residual swing. From Figure 2, it can be noticed that Trajectory 2 has shorter arrival time than the other four trajectories.…”

Section: Trajectorymentioning

confidence: 99%

“…In Trajectory 3 [9], some linear ramp functions at the transition stage are inserted into the three-segment trajectory to ensure smooth motion. It can be noticed from Figure 2 that the residual swing of Trajectory 3 is zero when the trolley stops.…”

Section: Trajectorymentioning

confidence: 99%

“…The overhead crane system described in [9] is used to test our proposed models and the reference trajectories 1, 2, 3 and 4. The physical parameters of the system are listed as follows m = 1.025 kg, M = 7 kg, l = 0.75 m, g = 9.8 m/s 2 .…”

Section: Numerical Simulationmentioning

confidence: 99%

See 2 more Smart Citations

Optimal motion planning for overhead cranes

Xia

2014

IET Control Theory & Applications

147

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Overhead cranes are widely used in industrial applications for material displacing. Many linear or nonlinear control schemes have been proposed for overhead cranes and implemented on electronic systems, but energy efficiency of transportation has seldom been considered in motion planning. This paper aims at finding an optimal solution of motion planning in terms of energy efficiency for overhead cranes. Using the optimal control method an optimal trajectory is obtained with less energy consumption than the compared trajectories and is also satisfying physical and practical constraints such as swing, acceleration, and jerk. Besides the energy optimal model, we also propose two other models to optimize time efficiency and safety during transportation. The results obtained have been compared with some existing motion trajectories, and have been shown to be superior to these benchmarks in terms of energy efficiency, time efficiency and safety respectively.

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An Enhanced Coupling Nonlinear Tracking Controller for Underactuated 3D Overhead Crane Systems

Zhang

Rong

et al. 2017

Asian Journal of Control

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An enhanced coupling nonlinear tracking control method for an underactuated 3D overhead crane systems is set forth in the present paper. The proposed tracking controller guarantees a smooth start for the trolley and solves the problem of the payload swing angle amplitude increasing as the transferring distance gets longer for the regulation control methods. Different from existing tracking control methods, the presented control approach has an improved transient performance. More specifically, by taking the operation experience, mathematical analysis of the overhead crane system, physical constraints, and operational efficiency into consideration, we first select two desired trajectories for the trolley. Then, a new storage function is constructed by the introduction of two new composite signals, which increases the coupling behaviour between the trolley movement and payload swing. Next, a novel tracking control strategy is designed according to the derivation form of the aforementioned storage function. Lyapunov techniques and Barbalat's Lemma are used to demonstrate the stability of the closed‐loop system without any approximation manipulations to the original nonlinear dynamics. Finally, some simulation and experiments are used to demonstrate the superior transient performance and strong robustness with respect to different cable lengths, payload masses, destinations, and external disturbances of the enhanced coupling nonlinear tracking control scheme.

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Transportation task-oriented trajectory planning for underactuated overhead cranes using geometric analysis

Cited by 113 publications

References 20 publications

Trolley Motion Control Based on S-shaped Velocity Profile for Quay Crane Cargo Oscillation Comparison

Trolley Motion Control Based on S-shaped Velocity Profile for Quay Crane Cargo Oscillation Comparison

Optimal motion planning for overhead cranes

An Enhanced Coupling Nonlinear Tracking Controller for Underactuated 3D Overhead Crane Systems

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