Development of Electronic Sway Control System for Container Crane.

Shirai, Junji; Hirasawa, Hiroshi; Fujiwara, Kazumasa; Noritsugu, Toshirou; Wada, Tsutomu; Takehara, Touru; Fujiwara, Kiyoshi; Kono, Hiroshi

doi:10.1299/kikaic.59.1443

Cited by 10 publications

(2 citation statements)

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“…A computer controller that takes the rope swing into account can generate time-optimal commands that result in zero residual vibration. Feedforward and feedback controllers, including optimal controllers (Sakawa and Shindo, 1982;Shirai et al, 1993;Murata et al, 1995), gain scheduling controllers (Kaneshige et al, 1998, Takagi et al, 1998, and feedforward controllers that consider the swing phase controller (Kurimoto and Yabuno, 2009), have been proposed for this purpose. Input shaping control (Singhose et al, 2000;Khalid et al, 2006) is another approach to crane control.…”

Section: Introductionmentioning

confidence: 99%

Control of a crane rope-and-mass system by wave absorption with support feedback control

Zheng

Saigo

Iwamoto

2017

Mechanical Engineering Journal

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The present paper deals with the vibration control of a suspended simple pendulum system, namely, a model of a crane rope and a load mass, by the lateral motion of the support. Wave control of the acceleration of the support was derived based on the connecting condition of a real pendulum (rope and mass) to multiple wavecontrolled homogeneous simple pendulums that exist virtually above the support. Velocity and position feedback control of the support was added in order to position the support at other than the original position. During winding up or down of the load mass, the system becomes a non-homogeneous simple pendulum system and the wave propagation exhibits a kind of mode localization that reduces the vibration control performance. The feedback control canceled the mode localization and provided better control performance than the pure wave control. The effective feedback coefficients of systems during winding up and down of the load mass were investigated. Based on simulation and experimental results, the proposed control was demonstrated to be useful and practical for real crane systems.

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Section: Introductionmentioning

confidence: 99%

Control of a crane rope-and-mass system by wave absorption with support feedback control

Zheng

Saigo

Iwamoto

2017

Mechanical Engineering Journal

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“…Feedforward and feedback controllers have been proposed in the following studies. Optimal controls with state feedback have been addressed, where the rope length is a parameter or is given as a time-dependent function (Sakawa and Shindo, 1982;Shirai et al, 1993;Murata, et al, 1995). Gain scheduling controllers where the rope length is considered as an arbitrary time function have been proposed (Kaneshige et al, 1997(Kaneshige et al, , 1998a(Kaneshige et al, , 1998bTakagi et al, 1998Takagi et al, , 2001.…”

Section: Introductionmentioning

confidence: 99%

Wave control of crane rope-and-mass system

Zheng

Saigo

2015

Mechanical Engineering Journal

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This paper deals with the wave absorbing control of a suspended simple pendulum system by the lateral motion of the support. The control acceleration of the support was derived by the connecting condition of real pendulums to the wave-controlled multiple simple pendulums virtually existing above the support. The wave propagating solution of the homogeneous multiple simple pendulum system was theoretically derived and applied to the virtual pendulum system. The velocity and position feedback control of the support was added to the support acceleration for wave control because the wave control could not fix the support position. This control can place the support at other than the original position. The experiments of a three homogeneous rigid pendulum system and a rope-and-mass system were conducted. The rope-and-mass experimental system has the function of winding up and down of load mass. The effect of the virtual pendulum length on the wave control was also investigated. From the simulation and experiment, our presented control strategy was shown to be effective enough and practical for real crane systems.

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Robust design of vibration suppression control system for crane using sway angle observer considering friction disturbance

Sano¹,

Sato²,

Ohishi³

et al. 2013

Electrical Engineering Japan

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SUMMARYIt is desirable for a container crane to operate smoothly and quickly. For this purpose, the control system of a container crane should be capable of antisway control for suppressing vibrations. A vision sensor system is often used to detect the sway angle. However, since a control system with a vision sensor has a delay time when determining the angle, it sometimes leads to deterioration of control performance owing to the delay time. In order to overcome this problem, this paper proposes a new antisway crane control system based on a dual-state observer with sensor-delay correction. However, because of nonlinear friction in the crane, the estimation accuracy achieved by using the observer is poor. To overcome this problem, this paper proposes a disturbance observer considering friction disturbance. The control performance and effectiveness of the proposed robust control system based on the estimated information are shown to be satisfactory by experimental results.

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Development of Electronic Sway Control System for Container Crane.

Cited by 10 publications

References 0 publications

Control of a crane rope-and-mass system by wave absorption with support feedback control

Control of a crane rope-and-mass system by wave absorption with support feedback control

Wave control of crane rope-and-mass system

Robust design of vibration suppression control system for crane using sway angle observer considering friction disturbance

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