Design of simultaneous input-shaping-based SIRMs fuzzy control for double-pendulum-type overhead cranes

Abstract

Abstract. Overhead cranes are extensively employed but their performance suffers from the natural sway of payloads. Sometime, the sway exhibits double-pendulum motions. To suppress the motions, this paper investigates the design of simultaneous input-shaping-based fuzzy control for double-pendulum-type overhead cranes. The fuzzy control method is based on the single input-rule modules (SIRMs). Provided the all the system variables are measurable, the SIRMs fuzzy controller is designed at first. To improve the performance of the fuzzy controller, the simultaneous input shaper is adopted to shape the control command generated by the fuzzy controller. Compared with other two control methods, i.e., the SIRMs fuzzy control and the convolved input-shaping-based SIRMs fuzzy control, simulation results illustrate the feasibility, validity and robustness of the presented control method for the anti-swing control problem of double-pendulum-type overhead cranes.

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

“…Without loss of generality, the following assumption, which was used in many crane‐related studies, is reasonable. The rope and the rigging can be seen as massless rigid links, and their flexibility and torsion can be neglected. For cranes working in practice, the hook is always beneath the boom, and the load is always beneath the hook; hence, the hook sway angles and the load sway angles always satisfy …”

“…Recently, some scholars have proposed a lot of methods for the double‐pendulum load sway suppression problem in crane systems . Jaafar et al presented a novel model reference command shaping approach to deal with the vibration reduction problem in a double‐pendulum overhead crane system .…”

“…Hardware experiments confirmed the proposed controllers have preferable control performance when compared with traditional ones. Some intelligent control methods, such as fuzzy control, were also applied to overhead crane system . A conventional sliding mode controller (CSMC) and a hierarchical sliding mode controller (HSMC) were presented for cranes .…”

“…Recently, some scholars have proposed a lot of methods for the double-pendulum load sway suppression problem in crane systems. [38][39][40][41][42][43][44][45][46][47][48][49][50][51][52][53][54][55][56] Jaafar et al presented a novel model reference command shaping approach to deal with the vibration reduction problem in a double-pendulum overhead crane system. 38 In addition, other similar input shaping-based methods were also reported in other works.…”

“…Some intelligent control methods, such as fuzzy control, were also applied to overhead crane system. 54,55 A conventional sliding mode controller (CSMC) and a hierarchical sliding mode controller (HSMC) were presented for cranes. 56 Simulation results confirmed that the HSMC can provide good performance than the CSMC.…”