187 research outputs found
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
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
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
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
Vision-based control of a knuckle boom crane with online cable length estimation
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 estimation of payload
angles and angular velocity. The length of the payload cable is also estimated
using a 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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