Control strategies for crane systems: A comprehensive review

Ramli, Liyana; Mohamed, Zulkifli; Abdullahi, Auwalu M.; Jaafar, Hazriq Izzuan; Lazim, Izzuddin Mat

doi:10.1016/j.ymssp.2017.03.015

Cited by 310 publications

(179 citation statements)

References 136 publications

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“…Lagrange formulation is used to obtain mathematical equations of the system. Lagrangian of the system can be defined as, (1) where T and V are the sum of the kinetical and potential energies of the cart and pendulum respectively. Lagrange formulation is,…”

Section: Mathematical Modelling Of Overhead Cranementioning

confidence: 99%

“…So, position of the cranes must be controlled such a way that the swing of the load is suppressed. For this purpose, numerous of studies have been conducted for the position control of cranes as seen in [1]. Since damping capacity of the system plays significant role on the suppression of the swing, passive control methods which the external dampers such as dashpots, viscous dampers, radial spring-damper, etc.…”

Section: Introductionmentioning

confidence: 99%

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Anti-Swing Control of an Overhead Crane by Using Genetic Algorithm Based LQR

Önen

2017

ijecs

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Section: Mathematical Modelling Of Overhead Cranementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Anti-Swing Control of an Overhead Crane by Using Genetic Algorithm Based LQR

Önen

2017

ijecs

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“…Hence, closed‐loop control schemes are less sensitive to perturbation in initial conditions (ie, initial swing angles and initial trolley position), external disturbances (ie, wind disturbances and possible collisions), and variation of system parameters (ie, payload mass and rope length) than open‐loop control schemes. An excellent review on control methods for crane systems is published recently and can be further referred to the work of Ramli et al…”

Section: Introductionmentioning

confidence: 99%

“…Moreover, the swing of the payload can hugely affect the payload positioning. Statistics have shown that traditional docking equipment waste more than 30% for fixing the load per the loading time . Hence, it is important to restrict the swing angles within a reasonable range.…”

Section: Introductionmentioning

confidence: 99%

A unified symplectic pseudospectral method for motion planning and tracking control of 3D underactuated overhead cranes

Wang

Liu

Zhang

et al. 2019

Intl J Robust & Nonlinear

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Summary In this paper, a unified symplectic pseudospectral method for motion planning and tracking control of 3D underactuated overhead cranes is proposed. A feasible reference trajectory taking constraints into consideration is first generated offline by the symplectic pseudospectral optimal control method. Then, a trajectory tracking model predictive controller also based on the symplectic pseudospectral method is developed to track the reference trajectory. At each sampling instant, the trajectory tracking controller works by solving an open‐loop optimal control problem where linearized system dynamics is used instead to improve the computational efficiency. Since the symplectic pseudospectral optimal control method is the core algorithm for both offline trajectory planning and online trajectory tracking, constraints on state variables and control inputs can be easily imposed and hence theoretically guaranteed in solutions. By selecting proper weighted matrices on tracking error and control, the developed controller could achieve control objectives in both accurate trolley positioning and fast suppressing of residual swing angles. Simulations for 3D overhead crane systems in the presence of perturbations in initial conditions, an abrupt variation of system parameter, and various external disturbances demonstrate that the developed controller is robust and of excellent control performance.

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“…However, the acceleration and deceleration motions of the boom and external interference often cause load sway. This kind of load sway will not only reduce the work efficiency but also cause accident and injury …”

Section: Introductionmentioning

confidence: 99%

Tracking and load sway reduction for double‐pendulum rotary cranes using adaptive nonlinear control approach

Ouyang

Zhang

2019

Intl J Robust & Nonlinear

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Summary Because of the existence of rotational boom motion, the load sway characteristics is more complex. In particular, when the sway presents double‐pendulum phenomenon, the design of the controller is more challenging. Furthermore, the uncertain parameters and external disturbances in crane system make it difficult for traditional control methods to obtain satisfactory control performance. Hence, this paper presents an adaptive nonlinear controller based on the dynamic model of double‐pendulum rotary crane. Unlike a traditional method, the proposed one does not need to linearize the crane system for controller design; therefore, the control performance can be guaranteed even if the system states are far away from the equilibrium point. By using Lyapunov technique and LaSalle's invariance theorem, it is strictly proved that the whole control system is asymptotically stable at the equilibrium point. The effectiveness of the presented controller is demonstrated via comparative simulations.

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Control strategies for crane systems: A comprehensive review

Cited by 310 publications

References 136 publications

Anti-Swing Control of an Overhead Crane by Using Genetic Algorithm Based LQR

Anti-Swing Control of an Overhead Crane by Using Genetic Algorithm Based LQR

A unified symplectic pseudospectral method for motion planning and tracking control of 3D underactuated overhead cranes

Tracking and load sway reduction for double‐pendulum rotary cranes using adaptive nonlinear control approach

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