Real Time Emotional Control for Anti-Swing and Positioning Control of SIMO Overhead Traveling Crane

Jamali MR, Arami A, Hosseini B, Moshiri B, Lukas C. Real Time Emotional Control for Anti-Swing and Positioning Control of SIMO Overhead Traveling Crane. International Journal of Innovative Computing, Information, and Control. 2008;4(9):2333-2344

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

Automation of ship-to-shore container cranes: A review of state-of-the-art

U radu je prikazan pregled dostignutog stepena razvoja i istraživanja u oblasti automatizacije obalskih kontejnerskih dizalica. Primenom različitih tehnika automatizacije povećava se produktivnost obalskih kontejnerskih dizalica, a sledstveno tome se povećava i efikasnost lučkih terminala kao integralnog dela logističke mreže. U radu je, takođe, prikazan pregled nekih najznačajnijih publikovanih istraživanja iz oblasti upravljanja kod kontejnerskih dizalica, a dati su i principi rada trenutno postojećih uređaja za umirivanje oscilovanja tereta - kontejnera.The paper gives the state-of-the-art of automation of ship-to-shore (STS) container cranes, as the biggest investments in the port terminal system. The automation techniques increase the productivity of the ship-to-shore container crane, and consequently increase the port terminal efficiency, as an integral part of logistic network. The paper also shows a short survey of some most important and recent researches in control of ship-to-shore cranes, and main principles of operation of antis way currently existing devices

Automation of ship-to-shore container cranes: A review of state-of-the-art

U radu je prikazan pregled dostignutog stepena razvoja i istraživanja u oblasti automatizacije obalskih kontejnerskih dizalica. Primenom različitih tehnika automatizacije povećava se produktivnost obalskih kontejnerskih dizalica, a sledstveno tome se povećava i efikasnost lučkih terminala kao integralnog dela logističke mreže. U radu je, takođe, prikazan pregled nekih najznačajnijih publikovanih istraživanja iz oblasti upravljanja kod kontejnerskih dizalica, a dati su i principi rada trenutno postojećih uređaja za umirivanje oscilovanja tereta - kontejnera.The paper gives the state-of-the-art of automation of ship-to-shore (STS) container cranes, as the biggest investments in the port terminal system. The automation techniques increase the productivity of the ship-to-shore container crane, and consequently increase the port terminal efficiency, as an integral part of logistic network. The paper also shows a short survey of some most important and recent researches in control of ship-to-shore cranes, and main principles of operation of antis way currently existing devices

LMI based antiswing adaptive controller for uncertain overhead cranes

This paper proposes an adaptive anti-sway controller for uncertain overhead cranes. The state-space model of the 2D overhead crane with the system parameter uncertainties is shown firstly. Next, the adaptive controller which can adapt with the system uncertainties and input disturbances is established. The proposed controller has ability to move the trolley to the destination in short time and with small oscillation of the load despite the effect of the uncertainties and disturbances. Moreover, the controller has simple structure so it is easy to execute. Also, the stability of the closed-loop system is analytically proven. The proposed algorithm is verified by using Matlab/Simulink simulation tool. The simulation results show that the presented controller gives better performances (i.e., fast transient response, position tracking, and low swing angle) than the state feedback controller when there exist system parameter variations as well as input disturbances

Research of Cargo Delivery Errors by Conveyance using Lifting Mechanism

The mechanical properties of the rope - stiffness and internal friction changes during the movement of cargo. For this reason, under the influence of gravity and inertial forces in the rope having varying tension. Thus, the lift mechanism further exposed to dynamic loads. The highest value of this load is obtained at the beginning of lifting and lowering in place. The mathematical model of the lift mechanism was investigated using the original software package and found dynamic load. In modern control system used cranes lifting mechanism, taking into account the deviation from the vertical rope. Dynamic load on the rope can distort the signals. Results are used to improve the control system of the lifting mechanism

Fuzzy Control of a Large Crane Structure

The usage of tower cranes, one type of rotary cranes, is common in many industrial structures, e.g., shipyards, factories, etc.  With the size of these cranes becoming larger and the motion expected to be faster and has no prescribed path, their manual operation becomes difficult and hence, automatic closed-loop control schemes are very important in the operation of rotary crane.  In this paper, the plant of concern is a tower crane consists of a rotatable jib that carries a trolley which is capable of traveling over the length of the jib.  There is a pendulum-like end line attached to the trolley through a cable of variable length.  A fuzzy logic controller with various types of membership functions is implemented for controlling the position of the trolley and damping the load oscillations.  It consists of two main types of controllers radial and rotational each of two fuzzy inference engines (FIEs).  The radial controller is used to control the trolley position and the rotational is used for damping the load oscillations.  Computer simulations are used to verify the performance of the controller.  The results from the simulations show the effectiveness of the method in the control of tower crane keeping load swings small at the end of motion