A Sliding-Mode Antiswing Trajectory Control for Overhead Cranes With High-Speed Load Hoisting

Lee, Ho-Hoon; Liang, Yi; Segura, Del

doi:10.1115/1.2364010

Cited by 126 publications

(73 citation statements)

References 6 publications

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“…Various types of control schemes have been developed for crane control, including optimal control (1) - (4) , gain scheduling control (5) - (7) , sliding mode control (8) - (10) , adaptive control (11) , back-stepping control (12) , input-shaping control (13) , disturbance observer based control (14) , and nonlinear control based on the Lyapunov stability theorem (15) - (17) .…”

Section: Introductionmentioning

confidence: 99%

S-Curve Trajectory Generation for Residual Load Sway Suppression in a Rotary Crane System Using Only Horizontal Boom Motion

Ouyang

Uchiyama

Sano

2011

JSDD

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Generally, both horizontal and vertical boom motion must be used to suppress the load sway caused by horizontal boom motion of a rotary crane. However, it would be less energy intensive and also safer if a control scheme could be developed that only used horizontal boom motion, i.e., without the need for any vertical boom motion. In addition, if load sway can be suppressed without measuring it, reduction in sensor cost can be achieved. Furthermore, employing simple velocity trajectory patterns such as trapezoidal and S-curve patterns, which are widely used in industrial automation systems, may provide cost effective controller implementation. This study presents a simple S-curve trajectory generation method for rotary crane motion that can suppress residual load sway using only horizontal boom motion without load sway sensing. Numerical simulations and experimental results demonstrate the effectiveness of the proposed method.

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Section: Introductionmentioning

confidence: 99%

S-Curve Trajectory Generation for Residual Load Sway Suppression in a Rotary Crane System Using Only Horizontal Boom Motion

Ouyang

Uchiyama

Sano

2011

JSDD

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“…비선형 제어 방법으로는 일반화된 상태공간 모델 에서 적응 및 가변구조 제어 (4,5) 및 이들과 퍼지제어를 결합한 방법 (6)(7)(8) , 그리고 피드백 선형화(feedback linearization)를 이용 …”

Section: 서 론unclassified

A Study on the Sway Suppression Control of Container Cranes

Baek¹

2012

Journal of manufacturing engineering & technology

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In this paper, we consider the sway suppression control problem for container cranes with load hoisting. The proposed control law improves the positioning accuracy but also the sway suppression through fast stabilization of the under-actuated sway dynamics, which is based on a class of feedback linearizing control incorporated with an additional control including the sway angle and its rate as well as positioning errors and their rates. For the design of the additional control, a variable structure control with the proper sway damping and simple switching action is employed, thus preventing excessive overshoots of the trolley travelling and effectively suppressing the residual sway of container arrived at the target position.Simulation results are provided to show effectiveness of the proposed controller in the presence of such uncertainties as winds and the variation of payload weights.

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“…Cranes and material handling systems are typical examples of systems that require residual vibration suppression, and their controller design have been widely studied, such as optimal control [1]- [5], gain scheduling control [6]- [8], sliding mode control [9]- [11], adaptive control [12], back-stepping control [13], input-shaping control [14], disturbance observer based control [15], nonlinear control based on the Lyapunov stability theorem [16], [17], and rotary crane control using only boom-horizontal motion [18]- [22]. Feed drive tables also require control systems that can suppress undesirable vibration [23].…”

Section: Introductionmentioning

confidence: 99%

Residual Vibration Suppression Using Simple Motion Trajectory for Mechanical Systems

Uchiyama

Sano

Haneda

2015

SICE Journal of Control, Measurement, and System Integration

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: This paper proposes motion-trajectory generation for mechanical systems that can be widely used in industrial applications. Many industrial systems, such as feed drive tables, gantry cranes, and material handling systems, are operated using S-curve acceleration and deceleration trajectory, and simple controllers that allow only such a simple motion trajectory are employed from the viewpoints of controller hardware and implementation cost efficiency. This study deals with simple mechanical dynamics including vibration properties and derives a necessary and sufficient condition for the motion trajectory to suppress residual vibration. Simulation and experimental results demonstrate the validity of the proposed conditions.

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A Sliding-Mode Antiswing Trajectory Control for Overhead Cranes With High-Speed Load Hoisting

Cited by 126 publications

References 6 publications

S-Curve Trajectory Generation for Residual Load Sway Suppression in a Rotary Crane System Using Only Horizontal Boom Motion

S-Curve Trajectory Generation for Residual Load Sway Suppression in a Rotary Crane System Using Only Horizontal Boom Motion

A Study on the Sway Suppression Control of Container Cranes

Residual Vibration Suppression Using Simple Motion Trajectory for Mechanical Systems

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