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

Input shaping-based control schemes for a three dimensional gantry crane

The motion induced sway of oscillatory systems such as gantry cranes may decrease the efficiency of production lines. In this thesis, modelling and development of input shaping-based control schemes for a three dimensional (3D) lab-scaled gantry crane are proposed. Several input shaping schemes are investigated in open and closed-loop systems. The controller performances are investigated in terms of trolley position and sway responses of the 3D crane. Firstly, a new distributed Delay Zero Vibration (DZV) shaper is implemented and compared with Zero Vibration (ZV) shaper and Zero Vibration Derivative (ZVD) shaper. Simulation and experimental results show that all the shapers are able to reduce payload sway significantly while maintaining desired position response specifications. Robustness tests with ±20% error in natural frequency show that DZV shaper exhibits asymmetric robustness behaviour as compared to ZV and ZVD shapers. Secondly, as analytical technique could only provide good performance for linear systems, meta-heuristic based input shaper is proposed to reduce sway of a gantry crane which is a nonlinear system. The results show that designing meta-heuristic-based input shapers provides 30% to 50% improvement as compared to the analytical-based shapers. Subsequently, a particle swarm optimization based optimal performance control scheme is developed in closed-loop system. Simulation and experimental results demonstrate that the controller gives zero overshoot with 60% and 20% improvements in settling time and integrated absolute error value of position response respectively, as compared to a specific designed PID-PID anti swing controller for the lab-scaled gantry crane. It is found that crane control with changing cable length is still a problem to be solved. An adaptive input shaping control scheme that can adapt to variation of cable’s length is developed. Simulation with real crane dimensions and experimental results verify that the controller provides 50% reduction in payload sway for different operational commands with hoisting as compared to the average travel length approach

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

Proceedings of the 4th Baltic Mechatronics Symposium - Tallinn April 25, 2019

The Baltic Mechatronics Symposium is annual symposium with the objective to provide a forum for young scientists from Baltic countries to exchange knowledge, experience, results and information in large variety of fields in mechatronics. The symposium was organized in co-operation with Taltech and Aalto University. The venue of the symposium was Nordic Hotel Forum Tallinn.The symposium was organized parallel to the 12th International DAAAM Baltic Conference and 27th International Baltic Conference BALTMATTRIB 2019. The selected papers are published in Proceedings of Estonian Academy of Sciences indexed in ISI Web of Science. The content of the proceedings: 1. Continuous wet spinning of cellulose nanofibrils 2. Development of motor efficiency test setup for direct driven hydraulic actuator 3. Development of pressure former for continuous nanopaper manufacturing 4. Device for tree volume measurements 5. Effect of external load on rotor vibration 6. Granular jamming based gripper for heavy objects 7. Integrated car camera system for monitoring inner cabin and outer traffic 8. Inverted pendulum controlled with CNC control system 9. Multi-material mixer and extruder for 3D printing 10. Object detection and trajectory planning using a LIDAR for an automated overhead cran

Adaptive Control

Adaptive control has been a remarkable field for industrial and academic research since 1950s. Since more and more adaptive algorithms are applied in various control applications, it is becoming very important for practical implementation. As it can be confirmed from the increasing number of conferences and journals on adaptive control topics, it is certain that the adaptive control is a significant guidance for technology development.The authors the chapters in this book are professionals in their areas and their recent research results are presented in this book which will also provide new ideas for improved performance of various control application problems

Evaluation of a self-guided transport vehicle for remote transportation of transuranic and other hazardous waste

Between 1952 and 1970, over two million cubic ft of transuranic mixed waste was buried in shallow pits and trenches in the Subsurface Disposal Area at the Idaho National Engineering Laboratory`s Radioactive Waste Management Complex. Commingled with this two million cubic ft of waste is up to 10 million cubic ft of fill soil. The pits and trenches were constructed similarly to municipal landfills with both stacked and random dump waste forms such as barrels and boxes. The main contaminants are micron-sized particles of plutonium and americium oxides, chlorides, and hydroxides. Retrieval, treatment, and disposal is one of the options being considered for the waste. This report describes the results of a field demonstration conducted to evaluate a technology for transporting exhumed transuranic wastes at the Idaho National Engineering and Environmental Laboratory (INEEL) and at other hazardous or radioactive waste sites through the U.S. Department of Energy complex. The full-scale demonstration, conducted at the INEEL Robotics Center in the summer of 1995, evaluated equipment performance and techniques for remote transport of exhumed buried waste. The technology consisted of a Self-Guided Transport Vehicle designed to remotely convey retrieved waste from the retrieval digface and transport it to a receiving/processing area with minimal human intervention. Data were gathered and analyzed to evaluate performance parameters such as precision and accuracy of navigation and transportation rates

The application of dynamic virtual prototyping to the development of control systems

A new method of developing control systems on the basis of dynamic virtual prototyping (DVP) has been proposed. The method facilitates the control system development process by means of (1) automating the transition from the conventional DVP of a plant to the dynamic model suitable for the control system design and (2) integrating the development process into the overall lifecycle. The method comprises the three principal stages: (1) representing the plant by its DVP; (2) simulating the DVP and generating the data-based model of the plant; (3) designing the control system using the generated data-based model. Stages 1 and 2 are supported by DVP systems (e.g. IGRIP, LMS/VirtualLab, MSC SimOffice), stage 3 is accomplished by CACSD. The proposed development method has been adapted to the class of plants that are linearizable, quasi-stationary, stable or stabilizable without using the analytical model and have lumped parameters. The specifics of applying the conventional methods of identification and control system design in the context of DVP have been revealed and analyzed. The engineering applicability of the method has been proved by means of developing the control system for fine positioning of a gantry crane load.reviewe

Transition control based on grey, neural states

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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