An experiment for position and sway control of a 3D gantry crane

Maghsoudi, MJ; Mohammed, Z.; Pratiwi, Artdhita Fajar; Ahmad, Nasarudin; Husain, Abdul Rashid

doi:10.1109/icias.2012.6306066

Cited by 9 publications

(2 citation statements)

References 7 publications

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“…In order to control GCS, many methods have been proposed to obtain good results. In [3], a control strategies on an experimental GCS based on feedback and feedforward control techniques where proposed using a PD controller and input shaping with four-impulse sequence. In [4,5] PID and PD controllers to track position and reduce sway angle respectively are demonstrated.…”

Section: Introductionmentioning

confidence: 99%

Position Control of a 2D Nonlinear Gantry Crane System Using Model Predictive Controller

Dankadai

Faudzi

Bature

et al. 2015

AMM

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This paper presents the application of model predictive controller for controlling a nonlinear 2D gantry crane system with a DC motor as an actuator. The gantry crane system (GCS) dynamics is derived using Lagrange equation method. A model predictive controller is designed based on the linearised GCS and prediction cost function to ensure accurate positioning and oscillation reduction. Simulation via MATLAB and Simulink was performed to investigate the performance of the model predictive controller on the GCS. The controller test was done under several elements altering the behaviour of the system. The closed loop system was analysed considering different cable length, payload mass and trolley position. It was found that the closed loop control meets the main goal of this work, trolley positioning as fast as possible with minimum payload swinging all within a robust input voltage.

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Section: Introductionmentioning

confidence: 99%

Position Control of a 2D Nonlinear Gantry Crane System Using Model Predictive Controller

Dankadai

Faudzi

Bature

et al. 2015

AMM

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“…Some researchers have recently modelled the loads as 3-D pendula to which various control techniques have been applied. However they generally assume a single, lumped-mass, load (Al-Garni et al, 1995;Sun et al, 2013;August et al, 2010;Yang and Yang, 2006;Antić et al, 2012;Cheng-Yuan et al, 2006;Maghsoudi et al, 2012;Chen et al, 2005;Schulze and Chang, 2010;Zhong, 2011). The most dynamically advanced developments in crane controllers in 3-D assume point mass loads, or at most, a rod-like body hanging from the trolley.…”

Section: Introductionmentioning

confidence: 99%

Gantry crane control of a double-pendulum, distributed-mass load, using mechanical wave concepts

O’Connor

Habibi

2013

Mech. Sci.

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Abstract. The overhead trolley of a gantry crane can be moved in two directions in the plane. The trolley is attempting to control the motion of a suspended, rigid-body, distributed mass load, supported by a hook, modelled as a lumped mass, in turn connected to the trolley by a light flexible cable. This flexible system has six degrees of freedom, four variables describing the flexible, hanging load dynamics and two (directly controlled) input variables for the trolley position. The equations of motion are developed and the crane model is verified. Then a form of wave-based control (WBC) is applied to determine what trolley motion should be used to achieve a reference motion of the load, with minimum swing during complex manoeuvres. Despite the trolley's limited control authority over the complex, flexible 3-D dynamics, WBC enables the trolley to achieve very good motion control of the load, in a simple, robust and rapid way, using little sensor information, with all measurements taken at or close to the trolley.

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Digital twin model of a large scale hot molten metal ladle pouring system

Popov,

Griffiths

2024

Int J Adv Manuf Technol

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In steel-making processes, large quantities (frequently exceeding 300 t) of liquid metal are transferred between vessels. In Basic Oxygen Steel (BOS) making process, metal is poured from Hot Metal (HM) ladles, utilising overhead gantry cranes, into furnaces for further processing. Due to the large quantities of liquid metal poured, this operation poses significant safety concerns associated with metal spillage and releases of heat emissions. This can further lead to damage being caused to surrounding infrastructure. Pouring automation can reduce the likelihood of metal spillage, optimising ladle movement for reduction in heat emission releases. Given the hazardous nature of this operation, robust testing and evaluation of automated crane pouring movements is required prior to their application. A digital twin (DT) model of an overhead gantry crane/HM ladle system is presented here, intended to provide a safe testing environment for controlled pouring movement and serve as a testbed for control system design studies. Accurate crane movement is achieved using multi-body dynamics, solving for non-linearities present due to rigid joint frictional components. The flow rate of HM is estimated through the application of a dynamic model, allowing the modelling of system dynamics due to differences in HM pouring weights. The devised DT model is evaluated by simulating real crane movement and making a comparison on the resultant changing HM weight inside the ladle. The devised DT removes the need for construction of a physical model or performing tests directly on the HM pouring system.

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An experiment for position and sway control of a 3D gantry crane

Cited by 9 publications

References 7 publications

Position Control of a 2D Nonlinear Gantry Crane System Using Model Predictive Controller

Position Control of a 2D Nonlinear Gantry Crane System Using Model Predictive Controller

Gantry crane control of a double-pendulum, distributed-mass load, using mechanical wave concepts

Digital twin model of a large scale hot molten metal ladle pouring system

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