Control of an Underactuated Double-Pendulum Overhead Crane using Improved Model Reference Command Shaping: Design, Simulation and Experiment

This paper presents a new control scheme based on model reference command shaping (MRCS) for an overhead crane, with double-pendulum mechanism effects. The approach has an advantage in achieving an accurate trolley positioning, with low hook and payload oscillations, under various desired trolley positions and parameter uncertainties, without the requirement for measurement or estimation of system parameters. These are challenging in practice. The previously developed MRCS algorithm is improved in order to reduce its design complexity, as well as to ensure that it can be augmented with a feedback controller so that a concurrent controller tuning can be realised. The combined MRCS and feedback controller is used to achieve both, precise trolley positioning, and low hook and payload oscillations. To evaluate the effectiveness and the robustness of the approach, simulations and experiments using a nonlinear model and a laboratory double-pendulum crane are carried out. Under various desired positions and parameter uncertainties that involve varying the cable lengths (payload hoisting) and the payload mass variations, the superiority of the proposed approach is confirmed by achieving higher hook and payload oscillation reductions when compared with a recently proposed feedback controller. In addition, the desired trolley positions are achieved with smoother responses

Autonomous Crane Control (Anti-Swing Controller)

The main objective for this project is to design controller forthe3DCrane Model that helps to overcome the swinging phenomena during the movement of the crane. 3D Crane model is a simulation or a mini model of the real life autonomous gantry crane that industries, suchas portand factories, usesto carries heavy loads. Cranes behavior is similar to pendulum where movement and friction on the load will create a swinging effect on it. In these industries, swinging of the load will affected their productivity, efficiency and most importantly the safety. So by having a controller that have the ability to overcome the swinging effect, this will optimize the productivity, efficiency and also the safety. In designing the "anti-swing" controller, a lot of problems encounter especially when dealing with 3 direction non-linear models. To understand the 3D Crane Model's capability and ability also will take a lot of time. This project will require knowledge in all types of controllers since the best controller out of all the controllers are needed to be use. As for the first part of this project, a PID controller is selected. Then a Fuzzy Controller are designed to compare with PID Controller to see which has better accuracy and precision in reducing the crane's swinging effect

Consistency of control performance in 3d overhead cranes under payload mass uncertainty

The paper addresses the problem of effectively and robustly controlling a 3D overhead crane under the payload mass uncertainty, where the control performance is shown to be consistent. It is proposed to employ the sliding mode control technique to design the closed-loop controller due to its robustness, regardless of the uncertainties and nonlinearities of the under-actuated crane system. The radial basis function neural network has been exploited to construct an adaptive mechanism for estimating the unknown dynamics. More importantly, the adaptation methods have been derived from the Lyapunov theory to not only guarantee stability of the closed-loop control system, but also approximate the unknown and uncertain payload mass and weight matrix, which maintains the consistency of the control performance, although the cargo mass can be varied. Furthermore, the results obtained by implementing the proposed algorithm in the simulations show the effectiveness of the proposed approach and the consistency of the control performance, although the payload mass is uncertain. © 2020 by the authors. Licensee MDPI, Basel, Switzerland

Hierarchical global fast terminal sliding-mode control for a bridge travelling crane system

The bridge crane system is a typical under-actuated system that is widely used in production and life. Although various scholars have conducted extensive research on the bridge crane system in recent years, there are still many problems, such as the trajectory planning of the cart and the anti-sway control of the cargo. In order to tackle the problem of the anti-sway control of the cargo, a hierarchical global fast terminal sliding-mode control (H-GFTSMC) is developed in this work. First, the Lagrange equations are used to model the system dynamics. Then, an appropriate hierarchical global fast terminal sliding-mode controller is designed to achieve anti-sway control of the cargo, and it is proved that each sliding-mode surface is progressively stable. A series of simulations were implemented to verify the effectiveness of the control method. The simulation results show that the H-GFTSMC has better control performance compared with the proportional–integral–derivative control method. When changing the cable length or adding non-negligible noise to the system, the H-GFTSMC still has good robustness

Adaptive Quantized Control of Offshore Underactuated Cranes with Uncertainty

Author's accepted manuscript.© 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.acceptedVersionPaid open acces

Development of Motion Control Systems for Hydraulically Actuated Cranes with Hanging Loads

Automation has been used in industrial processes for several decades to increase efficiency and safety. Tasks that are either dull, dangerous, or dirty can often be performed by machines in a reliable manner. This may provide a reduced risk to human life, and will typically give a lower economic cost. Industrial robots are a prime example of this, and have seen extensive use in the automotive industry and manufacturing plants. While these machines have been employed in a wide variety of industries, heavy duty lifting and handling equipment such as hydraulic cranes have typically been manually operated. This provides an opportunity to investigate and develop control systems to push lifting equipment towards the same level of automation found in the aforementioned industries. The use of winches and hanging loads on cranes give a set of challenges not typically found on robots, which requires careful consideration of both the safety aspect and precision of the pendulum-like motion. Another difference from industrial robots is the type of actuation systems used. While robots use electric motors, the cranes discussed in this thesis use hydraulic cylinders. As such, the dynamics of the machines and the control system designmay differ significantly. In addition, hydraulic cranes may experience significant deflection when lifting heavy loads, arising from both structural flexibility and the compressibility of the hydraulic fluid. The work presented in this thesis focuses on motion control of hydraulically actuated cranes. Motion control is an important topic when developing automation systems, as moving from one position to another is a common requirement for automated lifting operations. A novel path controller operating in actuator space is developed, which takes advantage of the load-independent flow control valves typically found on hydraulically actuated cranes. By operating in actuator space the motion of each cylinder is inherently minimized. To counteract the pendulum-like motion of the hanging payload, a novel anti-swing controller is developed and experimentally verified. The anti-swing controller is able to suppress the motion from the hanging load to increase safety and precision. To tackle the challenges associated with the flexibility of the crane, a deflection compensator is developed and experimentally verified. The deflection compensator is able to counteract both the static deflection due to gravity and dynamic de ection due to motion. Further, the topic of adaptive feedforward control of pressure compensated cylinders has been investigated. A novel adaptive differential controller has been developed and experimentally verified, which adapts to system uncertainties in both directions of motion. Finally, the use of electro-hydrostatic actuators for motion control of cranes has been investigated using numerical time domain simulations. A novel concept is proposed and investigated using simulations.publishedVersio

An Efficient Adaptive Hierarchical Sliding Mode Control Strategy Using Neural Networks for 3D Overhead Cranes

© 2019, Institute of Automation, Chinese Academy of Sciences and Springer-Verlag Gmbh Germany, part of Springer Nature. In this paper, a new adaptive hierarchical sliding mode control scheme for a 3D overhead crane system is proposed. A controller is first designed by the use of a hierarchical structure of two first-order sliding surfaces represented by two actuated and un-actuated subsystems in the bridge crane. Parameters of the controller are then intelligently estimated, where uncertain parameters due to disturbances in the 3D overhead crane dynamic model are proposed to be represented by radial basis function networks whose weights are derived from a Lyapunov function. The proposed approach allows the crane system to be robust under uncertainty conditions in which some uncertain and unknown parameters are highly difficult to determine. Moreover, stability of the sliding surfaces is proved to be guaranteed. Effectiveness of the proposed approach is then demonstrated by implementing the algorithm in both synthetic and real-life systems, where the results obtained by our method are highly promising

Modelling And Fuzzy Logic Control Of An Underactuated Tower Crane System

Tower crane is one of the flexible maneuvering systems that has been applied pervasively as a powerful big-scale construction machine. The under-actuated tower crane system has nonlinearity behavior with a coupling between translational and slew motions which increases the crane control challenge. In practical applications, most of the tower cranes are operated by a human operator which lead to unsatisfactory control tasks. Motivated to overcome the issues, this paper proposes a fuzzy logic controller based on single input rule modules dynamically connected fuzzy inference system for slew/translational positioning and swing suppressions of a 3 degree-of-freedom tower crane system. The proposed method can reduce the number of rules significantly, resulting in a simpler controller design. The proposed method achieves higher suppressions of at least 56% and 81% in the overall in-plane and out-plane swing responses, respectively as compared to PSO based PID+PD control

Adaptive Control Design for Underactuated Cranes with Guaranteed Transient Performance: Theoretical Design and Experimental Verification

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