A model-based anti-swing control of overhead cranes with high hoisting speeds

Lee, Ho-Hoon; Choi, Seung-Gap

doi:10.1109/robot.2001.933006

Cited by 5 publications

(2 citation statements)

References 5 publications

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“…The controller often consists of two parts, one feedback con-troller for regulating the position of the crane, and a second controller to suppress the load swing of the hanging load. Earlier work on anti-swing control of electric overhead cranes include Lee et al (1997); Lee (1998); Sung-Kun Cho and Ho-Hoon Lee (2000); Ho-Hoon Lee and Seung-Gap Choi (2001), utilizing linear system models. More advanced and nonlinear antiswing control systems including sliding mode control, robust control, and fuzzy logic are found in Ho-Hoon Lee and Sung-Kun Cho (2001); Cho and Lee (2002); Lee (2003); Fang et al (2003); Lee (2004); Lee et al (2006); Park et al (2007); Park et al (2008); Schindele et al (2009); Lee and Liang (2010); Ngo and Hong (2012); Ambrosino et al (2020).…”

Section: Introductionmentioning

confidence: 99%

Development of 3D Anti-Swing Control for Hydraulic Knuckle Boom Crane

Jensen¹,

Ebbesen²,

Hansen³

2021

MIC

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In this paper, 3D anti-swing control for a hydraulic loader crane is presented. The difference between hydraulic and electric cranes are discussed to show the challenges associated with hydraulic actuation. The hanging load dynamics and relevant kinematics of the crane are derived to model the system and create the 3D anti-swing controller. The anti-swing controller generates a set of tool point velocities which are added to the electro-hydraulic motion controller via feedforward. A dynamic simulation model of the crane is made, and the control system is evaluated in simulations with a path controller in actuator space. Simulation results show significant reduction in the load swing angles during motion using the proposed anti-swing controller in addition to pressure feedback. Experiments are carried out to verify the performance of the anti-swing controller. Results show that the implemented pressure feedback is crucial for reaching stability, and with it the control system yields good suppression of the swing angles in practice.

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Section: Introductionmentioning

confidence: 99%

Development of 3D Anti-Swing Control for Hydraulic Knuckle Boom Crane

Jensen¹,

Ebbesen²,

Hansen³

2021

MIC

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“…Many researches focused on the model-based antiswing control of overhead cranes, such as the feedforward strategy proposed in [3], the Sliding model control [7], neural network control [2], the fuzzy logic controller [1] [4] [8], and the "soft sensor" in [9] to replace expensive sensors.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Model Predictive Control of a Rotary Crane System using On-Line Optimization

Lee¹,

Chang²

2011

Control and Applications

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This paper investigates the implementation of a predictive controller using nonlinear dynamic model derived from first principles, together with online optimization, for a rotary crane system. The system is driven by two motors in velocity mode, and a white LED is installed on the payload to be observed by a camera located on the rotary frame to derive swing angles for control feedback. The proposed prediction controller is featured with control horizon long enough for online computation of prediction and optimization algorithms. Possible control sequences within the control horizon are described using spline interpolation to reduce the number of parameters to be optimized online. Response of the proposed scheme in face of exogenous disturbances and inaccuracy in estimated string length is demonstrated by numerical simulations.

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Anti-swing Control of Overhead Cranes

Wang

Kong

2006

2006 6th World Congress on Intelligent Control and Automation

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A model-based anti-swing control of overhead cranes with high hoisting speeds

Cited by 5 publications

References 5 publications

Development of 3D Anti-Swing Control for Hydraulic Knuckle Boom Crane

Development of 3D Anti-Swing Control for Hydraulic Knuckle Boom Crane

Nonlinear Model Predictive Control of a Rotary Crane System using On-Line Optimization

Anti-swing Control of Overhead Cranes

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