Differential-flatness-based finite-time anti-swing control of underactuated crane systems

Zhang, Zhongcai; Wu, Yuqiang; Huang, Jinquan

doi:10.1007/s11071-016-3149-7

Cited by 78 publications

(35 citation statements)

References 39 publications

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“…I. ВВЕДЕНИЕ В последние десятилетия большое число исследований было посвящено поиску эффективных методик автоматического управления подвижными звеньями мостовых кранов (МК) [1] в целях обеспечения частичного или полного ограничения (гашения) неуправляемых колебаний груза на гибком подвесе [2]. Неуправляемые колебания при неоптимальном (в том числе ручном) управлении МК присутствуют как в процессе перемещения груза, так и после остановки подвижных звеньев.…”

Section: Doi: 1025206/2310-9793-7-1-95-104unclassified

Use of Hermite Splines When Solving the Problem of Cargo Movement on a Unrigid Crane Suspension on a Crystal Trajectory

Корытов¹,

Automobile²,

Shcherbakov³

et al. 2019

DSMM

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Аннотация. Задание требуемой траектории перемещения груза на нежестком крановом подвесе маятникового типа при помощи двухточечных сплайнов Эрмита с наивысшими производными четвертого порядка позволило получить в аналитическом виде выражения координат груза, точки подвеса груза и угла отклонения каната от вертикали, а также их первых трех производных от времени. Использовалась известная математическая модель колебательной системы, описываемая при помощи линеаризованного дифференциального уравнения. При описываемых перемещениях колебательной системы отсутствуют неуправляемые маятниковые колебания груза, снижающие производительность и безопасность рабочего процесса. Груз перемещается точно по заданной траектории. Суперпозиция перемещений груза в двух взаимно перпендикулярных плоскостях позволила решить задачу синтеза траектории точки подвеса, обеспечивающей перемещение груза по произвольной гладкой криволинейной траектории, заданной в горизонтальной плоскости. Вторая горизонтальная координата груза была представлена при этом как интерполяционный многочлен от первой горизонтальной координаты. Разделение траектории перемещения вдоль оси второй горизонтальной координаты на несколько участков одинаковой продолжительности позволило определить перемещения груза и его производных в опорных точках, а по ним определить траекторию движения точки подвеса. Разработанная методике является перспективной для применения в интеллектуальных мехатронных системах управления кранами мостового и козлового типа. Ключевые слова: сплайн Эрмита, раскачивание груза, заданная траектория, маятниковый подвес, мостовой кран, колебания, вынужденное движение.

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Section: Doi: 1025206/2310-9793-7-1-95-104unclassified

Use of Hermite Splines When Solving the Problem of Cargo Movement on a Unrigid Crane Suspension on a Crystal Trajectory

Корытов¹,

Automobile²,

Shcherbakov³

et al. 2019

DSMM

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show abstract

“…A choice of function of time for the − 1 output reduces the system to one with a single input. The differential flatness-based approach was applied to the development of finite-time control laws to the underactuated crane systems in 2-dimensional (2D) space by Zhang et al [8]. Kiefer et al [9] used the flatness property to design a controller for a 3DOF helicopter with a slight modification of the generalized force to impose the flatness property to the 3DOF helicopter model.…”

Section: Introductionmentioning

confidence: 99%

Simple Flatness Condition for 2DOF Underactuated Mechanical Systems with Application to Controller Design

Said¹,

Al-Samarraie²,

Mshari³

2020

MMEP

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In this paper, a simple flatness condition for the two degree of freedom underactuated mechanical system has been derived. Differential geometry was used as a mathematical tool in the derivation of the flatness condition. The flatness condition has been found as a direct inner product between the covariant derivative of a vector field which annihilate the codistribution, that spanned by the force matrix and the force matrix itself. Several examples of underactuated mechanical systems are 2DOF systems, or mechanical systems underactuated by one control which can be reduced to 2DOF system. Systems that are classified as differentially flat have many useful features, which can be used in designing an effective controller for the nonlinear systems. The Translational Oscillator with Rotational Actuator (TORA) system is considered here as an example of a typical flat 2DOF underactuated mechanical system. The flat output is derived based on the obtained result here, and then a nonlinear controller is designed for a TORA system based on the flatness property, and using a Backstepping method to overcome the under actuation problem. The simulation results demonstrate the effectiveness of the proposed controller.

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“…This kind of load sway will not only reduce the work efficiency but also cause accident and injury. 1 To solve this problem, many scholars have done a lot of researches and put forward many effective methods including input shaping method, 2-6 optimal control, 7-11 model predictive control, 12,13 adaptive control, [14][15][16][17] sliding mode control, [18][19][20][21] Lyapunov-based control, [22][23][24][25][26][27][28][29][30][31][32][33][34][35] robust control, 36,37 and so on. However, when the load shape is irregular or the mass of the hook cannot be neglected, the sway will present a more complex double-pendulum load sway phenomenon, which makes it difficult for traditional control methods to obtain satisfactory control performance.…”

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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Differential-flatness-based finite-time anti-swing control of underactuated crane systems

Cited by 78 publications

References 39 publications

Use of Hermite Splines When Solving the Problem of Cargo Movement on a Unrigid Crane Suspension on a Crystal Trajectory

Use of Hermite Splines When Solving the Problem of Cargo Movement on a Unrigid Crane Suspension on a Crystal Trajectory

Simple Flatness Condition for 2DOF Underactuated Mechanical Systems with Application to Controller Design

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

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