Comparison of Linear and Nonlinear MPC on Operator-In-the-Loop Overhead Cranes

Model Predictive Control has been proved to enhance the control performance of overhead cranes. However, in Operator-In-the-Loop (OIL) overhead cranes the trajectory of the payload strongly depends on the runtime decisions of the user and can not be predicted beforehand. Simple assumptions on the future references evolution have therefore to be made. In this paper we investigate the applicability of linear and nonlinear MPC strategies to the case of OIL overhead cranes, based on different assumptions on the future evolution of the length of the hoisting cable

Limit states of steel supporting structure for bridge cranes

This paper describes a question of evaluation necessity of bridge cranes using the method of limit deformation state and oscillation damping. The solution was performed by means of theoretical analysis and an experimental verification at the selected bridge crane. The final result sounds that in the case of a correct strength computing of given bridge crane, it is not necessary to also check deformation and damping of oscillation as well.Web of Science10815814

MPC-PID control of operator-in-the-loop overhead cranes: A practical approach

In this paper, a velocity control system for industrial overhead cranes based on a Model Predictive Control approach is proposed. The problem of the control of the operator-in-the-loop system is addressed, as the operator drives the system pushing a button while the control algorithm drives the cart reducing the oscillations of the load. An inner velocity control loop is used in order to overcome some of the problems of controlling the system by using directly the torque of the motor as a control variable. Simulations show the effectiveness of the approach, in particular in the presence of friction

A Robust Offline Precomputed Optimal Feedforward Control Action for the Real Time Feedback/Feedforward Control of Double Pendulum Gantry Cranes

none1openvalentina orsiniOrsini, Valentin

Model Predictive Control for operator-in-the-loop overhead cranes

In this paper, a Model Predictive Control approach for the velocity control of operator-in-the loop overhead cranes is proposed. The operator can select the maximum position overshoot as a tuning parameter for the method. Simulations provide a comparison between the proposed method and the well known Zero Vibration input shaping technique, showing its effectiveness in controlling the payload oscillations

Robust Adaptive Control of 3D Overhead Crane System

In this chapter an adaptive anti-sway controller for uncertain overhead cranes is proposed. The system model including the system uncertainties and disturbances is introduced firstly. Next, the adaptive controller which can guarantee tracking the desired position of the trolley as well as the anti-sway of the load cable is established. In this chapter, the system is proven to be input-to-state stable (ISS) which is supported by Lyapunov technique. The proposed algorithm is verified by using Matlab/Simulink simulation tool. The simulation results shown that the presented controller gives the good performances (i.e., fast transient response, position tracking, and low swing angle) when there exist system parameters variation as well as input disturbances

VIBRATION CONTROL OF A GANTRY CRANE SYSTEM USING DYNAMIC FEEDBACK SWING CONTROLLER

The use of gantry crane system for transporting payload is very common in industrial application. However, moving the payload using the crane is not easy task especially when strict specifications on the swing angle and on the transfer time need to be satisfied. To overcome this problem a dynamic feedback swing controller is designed for the gantry position and speed, as well as the load angle and angular velocity using PID controller. Simulated responses of the position of the trolley and sway angle of the mass are presented using MATLAB. The performance of the Bangbang torque input function and the feedback swing controller are compared. From the simulation results, satisfactory vibration reduction of a crane system has been achieved using the proposed method

A cable-suspended intelligent crane assist device for the intuitive manipulation of large payloads

This paper presents a cable-suspended crane system to assist operators in moving and lifting large payloads. The main objective of this work is to develop a simple and reliable system to help operators in industry to be more productive while preventing injuries. The system is based on the development of a precise and reliable cable angle sensor and a complete dynamic model of the system. Adaptive horizontal and vertical controllers designed for direct physical human-robot interaction are then proposed. Different techniques are then proposed to estimate the payload acceleration in order to increase the controller performances. Finally, experiments performed on a full-scale industrial system are presented