A neural network-based input shaping for swing suppression of an overhead crane under payload hoisting and mass variations

Ramli, Liyana; Mohamed, Zulkifli; Jaafar, Hazriq Izzuan

doi:10.1016/j.ymssp.2018.01.029

Cited by 113 publications

(50 citation statements)

References 40 publications

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“…They also proposed zero vibration derivative (ZVD) shaper, zero vibration derivative-derivative-derivative (ZVDDD) shaper, and specifiedinsensitivity (SI) shaper for cranes. [20][21][22] In recent years, Ramli et al 23 proposed an input shaping control method based on neural network for the problem of the change of the load quality during the lifting process, and successfully applied it to the overhead crane. Meanwhile, to solve external disturbance, such as wind disturbance, Abdullahi et al 24 combined an adaptive controller and a command shaper for sway controls of a three-dimensional (3D) overhead crane.…”

Section: Introductionmentioning

confidence: 99%

Boom motion trajectory generation approach for load sway rejection in rotary cranes considering double-pendulum effect

Ouyang

Zhang

2020

Measurement and Control

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In the control research on the rotary crane systems with double-pendulum effect, a motion trajectory with both simple structure and excellent robust performance is proposed to achieve the positioning of the boom and the suppression of the load sway. The presented trajectory consists of an anti-swing component and a boom positioning component, where the first part is used to achieve the sway angle elimination without affecting boom positioning; the second one is used to move the boom to the desired location precisely. The Lyapunov technique, LaSalle’s invariance theorem, and Barbalat’s lemma are used to prove the excellent performance of the method. Eventually, the effectiveness of the proposed method was verified through a large amount of simulation data analysis.

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Section: Introductionmentioning

confidence: 99%

Boom motion trajectory generation approach for load sway rejection in rotary cranes considering double-pendulum effect

Ouyang

Zhang

2020

Measurement and Control

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“…Generally speaking, according to the crane model, the control methods for crane systems are divided into two main categories. One is linear control methods based on linearization model, including input shaping [1][2][3], trajectory planning [4][5][6], PID control [7][8][9], internal model control [10], etc. In order to reduce the complexity of controller design or stability analysis, these control methods first linearize the complex nonlinear model near the equilibrium point or ignore some specific nonlinear coupling terms.…”

Section: Introductionmentioning

confidence: 99%

Takagi-Sugeno Fuzzy Modeling and PSO-Based Robust LQR Anti-Swing Control for Overhead Crane

Shao

Zhang

2019

Mathematical Problems in Engineering

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The dynamic model of overhead crane is highly nonlinear and uncertain. In this paper, Takagi-Sugeno (T-S) fuzzy modeling and PSO-based robust linear quadratic regulator (LQR) are proposed for anti-swing and positioning control of the system. First, on the basis of sector nonlinear theory, the two T-S fuzzy models are established by using the virtual control variables and approximate method. Then, considering the uncertainty of the model, robust LQR controllers with parallel distributed compensation (PDC) structure are designed. The feedback gain matrices are obtained by transforming the stability and robustness of the system into linear matrix inequalities (LMIs) problem. In addition, particle swarm optimization (PSO) algorithm is used to overcome the blindness of LQR weight matrix selection in the design process. The proposed control methods are simple, feasible, and robust. Finally, the numeral simulations are carried out to prove the effectiveness of the methods.

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“…It has been demonstrated that the dynamic behavior of the beam is affected by many parameters, such as the mass of the moving load [15], the load's acceleration [16,17], the load's speed [5,18], and many others. Extensive research has been done on the methods and efforts of limiting undesirable payload swing, such as an energy-based control scheme [19], input shaping technology [20], nonlinear coordination control [21], neural network control [22], fuzzy control [23], a trajectory planning method [24], and so forth. However, all these methods focus on how to reduce the swing of the payload and do not take into account the influence of the cable's flexible or the vibrations of the crane's beam.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Responses of an Overhead Crane’s Beam Subjected to a Moving Trolley with a Pendulum Payload

Liu

2019

Shock and Vibration

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An overhead crane with a flexible cable is an underactuated system; the vibration of the crane’s beam and the residual swinging of the payloads cause fatigue in the crane and affect the precise positioning of the payloads. In this paper, the coupling system of an overhead crane was simplified to that of a moving mass with pendulum swing passing beam model. The differential equation motion of a coupled overhead crane system was derived based on the Lagrange equation. Mathematical solution was carried out by using the Newmark-β integral method. The influences of the trolley’s acceleration and the parameters of the payloads on the vibration of the beam and the payloads’ swing were, respectively, analyzed. A numerical analysis of the results indicates that increasing the mass of the payloads leads to a larger deflection of the beam, whereas increasing the speed and acceleration of the trolley does not obviously influence the maximum deflection of the central beam.

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A neural network-based input shaping for swing suppression of an overhead crane under payload hoisting and mass variations

Cited by 113 publications

References 40 publications

Boom motion trajectory generation approach for load sway rejection in rotary cranes considering double-pendulum effect

Boom motion trajectory generation approach for load sway rejection in rotary cranes considering double-pendulum effect

Takagi-Sugeno Fuzzy Modeling and PSO-Based Robust LQR Anti-Swing Control for Overhead Crane

Dynamic Responses of an Overhead Crane’s Beam Subjected to a Moving Trolley with a Pendulum Payload

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