829 research outputs found
Payload Oscillations Minimization via Open Loop Control.
The results of tests of payload oscillations, forced by linear control function which allows to minimize payload sway after acceleration phase and after overhead crane stopping are presented in this paper. The analysis of solution of this problem has been carried out. The algorithm of operation for real drive system which takes into account the possibilities of driving of an overhead crane is also presented. The impact of inaccuracies of measurement of the ropes length on minimizing a displacements of payload during the duty cycle is shown as well. The correctness of the method is confirmed by results both simulation and experimental tests
Advanced Discrete-Time Control Methods for Industrial Applications
This thesis focuses on developing advanced control methods for two industrial
systems in discrete-time aiming to enhance their performance in delivering the
control objectives as well as considering the practical aspects. The first part
addresses wind power dispatch into the electricity network using a battery
energy storage system (BESS). To manage the amount of energy sold to the
electricity market, a novel control scheme is developed based on discrete-time
model predictive control (MPC) to ensure the optimal operation of the BESS in
the presence of practical constraints. The control scheme follows a decision
policy to sell more energy at peak demand times and store it at off-peaks in
compliance with the Australian National Electricity Market rules. The
performance of the control system is assessed under different scenarios using
actual wind farm and electricity price data in simulation environment. The
second part considers the control of overhead crane systems for automatic
operation. To achieve high-speed load transportation with high-precision and
minimum load swings, a new modeling approach is developed based on independent
joint control strategy which considers actuators as the main plant. The
nonlinearities of overhead crane dynamics are treated as disturbances acting on
each actuator. The resulting model enables us to estimate the unknown
parameters of the system including coulomb friction constants. A novel load
swing control is also designed based on passivity-based control to suppress
load swings. Two discrete-time controllers are then developed based on MPC and
state feedback control to track reference trajectories along with a feedforward
control to compensate for disturbances using computed torque control and a
novel disturbance observer. The practical results on an experimental overhead
crane setup demonstrate the high performance of the designed control systems.Comment: PhD Thesis, 230 page
Synchronous control of double-containers for overhead crane
The development and wide application of double spreaders overhead cranes have
effectively improved the loading and unloading efficiency of the container terminals.
However, due to the nonlinear time-varying characteristics and parameter perturbation
of the lifting device of the double spreaders, the difficulty of synchronous and
coordinated control of the double spreader overhead crane is increased. In order to solve
the problem of synchronous control of double spreaders overhead cranes, this work
establishes the mathematical model of the double spreaders overhead crane and
proposes two main methods. The controller based on the fuzzy sliding mode method is
established. Fuzzy logic control can effective estimate the parameters of the system,
reduce the chattering of sliding mode control, and improve the performance of its
control. Mean deviation coupling synchronization control combined with sliding mode
control can effectively control the speed error between the two spreaders, so that they
can keep working synchronously. The other controller is established which use fast
non-singular terminal sliding mode control to ensure that the system can converge in a
finite time. The combination of terminal sliding mode control and super twisting
algorithm can enhance the stability of the system.O desenvolvimento e a vasta aplicação de pontes rolantes de duplo espalhamento
tem melhorado a eficiência de carga e descarga dos terminais de contentores. No
entanto devido ao facto das variações não lineares do tempo e a perturbação dos
parâmetros do dispositivo de elevação de duplo espalhamento, é dificultado o controlo
sincronizado e coordenado. Com o objetivo de resolver o problema do controlo
síncrono das pontes rolantes de duplo espalhamento, este projeto usa o modelo
matemático do guindaste de dupla propagação e propõe dois métodos de resolução. O
controlo baseado no método do modo deslizante difuso. O controlo lógico difuso pode
estimar eficazmente os parâmetros do sistema, reduzir a vibração do controlo do modo
deslizante e melhorar o seu desempenho. O control de sincronização do acoplamento
do desvio médio, combinado com o control do modo deslizante que pode controlar
eficazmente o erro de velocidade entre os dois espalhadores, para que o seu trabalho
possa continuar de forma síncrona. O outro controlador usa um controlo rápido e não
singular do modo de deslizamento do terminal para garantir que o sistema possa
convergir num tempo limitado. A combinação do control no modo deslizante do
terminal e do algoritmo de super rotação pode melhorar a estabilidade do sistema
Payload motion control for a varying length flexible gantry crane
Cranes play a very important role in transporting heavy loads in various industries. However, because of its natural swinging characteristics, the control of crane needs to be considered carefully. This paper presents a control approach to a flexible cable crane system in consideration of both rope length varying and system constraints. At first, from Hamilton\u27s extended principle the equations of motion that characterized coupled transverse-transverse motions with varying rope length of the gantry are obtained. The equations of motion consist of a system of partial differential equations. Then, a barrier Lyapunov function is used to derive the control located at the trolley end that can precisely position the gantry payload and minimize vibrations. The designed control is verified through extensive experimental studies
Modelling and Control of a Knuckle Boom Crane
Cranes come in various sizes and designs to perform different tasks.
Depending on their dynamic properties, they can be classified as gantry cranes
and rotary cranes. In this paper we will focus on the so called 'knuckle boom'
cranes which are among the most common types of rotary cranes. Compared with
the other kinds of cranes (e.g. boom cranes, tower cranes, overhead cranes,
etc), the study of knuckle cranes is still at an early stage and very few
control strategies for this kind of crane have been proposed in the literature.
Although fairly simple mechanically, from the control viewpoint the knuckle
cranes present several challenges. A first result of this paper is to present
for the first time a complete mathematical model for this kind of crane where
it is possible to control the three rotations of the crane (known as luff,
slew, and jib movement), and the cable length. The only simplifying assumption
of the model is that the cable is considered rigid. On the basis of this model,
we propose a nonlinear control law based on energy considerations which is able
to perform position control of the crane while actively damping the
oscillations of the load. The corresponding stability and convergence analysis
is carefully proved using the LaSalle's invariance principle. The effectiveness
of the proposed control approach has been tested in simulation with realistic
physical parameters and in the presence of model mismatch.Comment: This paper has been accepted to International Journal of Control on
March 29th 2021. arXiv admin note: text overlap with arXiv:2103.0250
Suspended Load Path Tracking Control Using a Tilt-rotor UAV Based on Zonotopic State Estimation
This work addresses the problem of path tracking control of a suspended load
using a tilt-rotor UAV. The main challenge in controlling this kind of system
arises from the dynamic behavior imposed by the load, which is usually coupled
to the UAV by means of a rope, adding unactuated degrees of freedom to the
whole system. Furthermore, to perform the load transportation it is often
needed the knowledge of the load position to accomplish the task. Since
available sensors are commonly embedded in the mobile platform, information on
the load position may not be directly available. To solve this problem in this
work, initially, the kinematics of the multi-body mechanical system are
formulated from the load's perspective, from which a detailed dynamic model is
derived using the Euler-Lagrange approach, yielding a highly coupled, nonlinear
state-space representation of the system, affine in the inputs, with the load's
position and orientation directly represented by state variables. A zonotopic
state estimator is proposed to solve the problem of estimating the load
position and orientation, which is formulated based on sensors located at the
aircraft, with different sampling times, and unknown-but-bounded measurement
noise. To solve the path tracking problem, a discrete-time mixed
controller with pole-placement constraints
is designed with guaranteed time-response properties and robust to unmodeled
dynamics, parametric uncertainties, and external disturbances. Results from
numerical experiments, performed in a platform based on the Gazebo simulator
and on a Computer Aided Design (CAD) model of the system, are presented to
corroborate the performance of the zonotopic state estimator along with the
designed controller
Minimum Time Control of a Gantry Crane System with Rate Constraints
This paper focuses on the development of minimum time control profiles for
point-to-point motion of a gantry crane system in the presence of uncertainties
in modal parameters. Assuming that the velocity of the trolley of the crane can
be commanded and is subject to limits, an optimal control problem is posed to
determine the bang-off-bang control profile to transition the system from a
point of rest to the terminal states with no residual vibrations. Both undamped
and underdamped systems are considered and the variation of the structure of
the optimal control profiles as a function of the final displacement is
studied. As the magnitude of the rigid body displacement is increased, the
collapse and birthing of switches in the optimal control profile are observed
and explained. Robustness to uncertainties in modal parameters is accounted for
by forcing the state sensitivities at the terminal time to zero. The
observation that the time-optimal control profile merges with the robust
time-optimal control is noted for specific terminal displacements and the
migration of zeros of the time-delay filter parameterizing the optimal control
profile are used to explain this counter intuitive result. A two degree of
freedom gantry crane system is used to experimentally validate the observations
of the numerical studies and the tradeoff of increase in maneuver time to the
reduction of residual vibrations is experimentally illustrated
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