Dynamic analysis and control PID path of a model type gantry crane

Ospina-Henao, P. A.; López-Suspes, Framsol

doi:10.1088/1742-6596/850/1/012004

Cited by 6 publications

(5 citation statements)

References 9 publications

(8 reference statements)

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“…One may have noticed that the selection of the Lyapunov function satisfies the stability requirements that ( , ) = 0 for = 0 and ( , ) > 0 for ̸ = 0 ∀ . By differentiating (16) with respect to time along (15) one arrives aṫ…”

Section: Sliding Mode Control Design and Stabilitymentioning

confidence: 99%

See 1 more Smart Citation

Comparative Analysis of Neural-Network and Fuzzy Auto-Tuning Sliding Mode Controls for Overhead Cranes under Payload and Cable Variations

Shehu

Huang

et al. 2019

Journal of Control Science and Engineering

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The overhead crane is required to operate fast and precisely with minimal sway. However, high-speed operations cause undesirable load sways, hazardous to operating personnel, the payload being handled, and the crane itself. Thus, a high-quality control is required. In this work, the nonlinear model of the overhead crane was established and the sliding mode control (SMC) was proposed that ensured the existence of sliding motion in the presence of payload and hoisting height variations, and viscous frictions. To maximize the benefits derived from the proposed control method, novel sliding slope-update based on intelligent neural-network and fuzzy algorithms were developed to tune the controller, guaranteeing precise tracking of the actuated variables as well as regulation of the unactuated variables. The proposed methods adjust predetermined value of the sliding manifold’s slope in response to variations in hoisting heights. Control applications were conducted, and results based on graphical, integral absolute error (IAE), and integral time absolute error (ITAE) proved the effectiveness of the proposed algorithms. It was observed that the response of the controller with back-propagation-trained neural-network was more effective relative to that of the fuzzy algorithm.

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Section: Sliding Mode Control Design and Stabilitymentioning

confidence: 99%

“…Several CL solutions have been developed for control of cranes. The proportional-integral control (PID) was proposed by [15][16][17] and positive results were obtained. For the PID techniques, the authors used a PID controller for position control and a PD controller for sway suppression.…”

Section: Introductionmentioning

confidence: 99%

Comparative Analysis of Neural-Network and Fuzzy Auto-Tuning Sliding Mode Controls for Overhead Cranes under Payload and Cable Variations

Shehu

Huang

et al. 2019

Journal of Control Science and Engineering

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“…The working performance and technical status of its metal structure directly affect the safety and reliability of the whole machine. Therefore, how to detect and evaluate the overall working performance of the metal structure of the four-bar linkage of the old portal crane has become an important issue to be solved in the industry [3,4].…”

Section: Introductionmentioning

confidence: 99%

Stress analysis of gantry crane cylinder structure

Jiang

Wang

et al. 2022

J. Phys.: Conf. Ser.

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By building three finite element analysis models for its four-bar metal structure under different amplitudes (the boom span is 13.5m, 22.5m and 34.5m), the relationship between stress, amplitude and load at key parts is established by linear interpolation method; At the same time, the relationship between the measured strain data of key parts and the load and amplitude is linearly fitted. The analysis and comparison between the finite element calculation data and the measured data are well verified. In order to provide a feasible analysis method for solving the working performance of four-bar linkage structure of portal crane. At the same time, it provides a more convenient method for the compilation of typical load, which is the important basic data for the calculation and analysis of residual fatigue life of later structures.

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“…Representative methods of open-loop control include optimal control [1], [2], trajectory planning [3], [4] and input shaping control [5], [6], yet whose strong dependence and low robustness hinder their application in real-world practices. For this reason, a series of closed-loop control methods have been suggested by numerous scholars, including dynamic PID control [7], fuzzy PID control [8], adaptive neural network control [9], etc.…”

Section: Introductionmentioning

confidence: 99%

Global-Equivalent Sliding Mode Control Method for Bridge Crane

Wang¹,

Tan

Qiu

et al. 2021

IEEE Access

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A wide application of sliding mode variable structure control as a nonlinear robust control method, has been witnessed in anti-swing positioning control of bridge crane system. Aiming at the problem that the sliding mode variable structure control system of bridge crane is not robust in approaching process, a new Global-Equivalent Sliding Mode Controller (GESMC) based on bridge crane system is proposed. This controller can realize the anti-sway positioning control of the bridge crane system under the condition of uncertain model parameters and external disturbance. The proposed controller, different from the traditional sliding mode control, excels in improving system robustness through keeping the system states in the sliding surface during the whole response process. Specifically, it initiates with the design of a global sliding surface, which can eliminate the sliding mode approach process of the system and achieve global robustness in the system. Afterwards, a new switching function combined with the equivalent sliding mode control method is incorporated to effectively reduce the chattering generated when the system reaches the sliding mode manifold. Its asymptotic stability is proven without a priori knowledge on the bounds of unknown disturbances by using the Lyapunov stability theory. Lastly, the simulation conducted verifies the effectiveness and robustness of the GESMC proposed in this paper and meanwhile demonstrates a comparatively favorable performance for the GESMC in reducing chattering.INDEX TERMS Bridge crane, Anti-swing positioning control, Global-equivalent sliding mode control, Global robustness, chattering.

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Dynamic analysis and control PID path of a model type gantry crane

Cited by 6 publications

References 9 publications

Comparative Analysis of Neural-Network and Fuzzy Auto-Tuning Sliding Mode Controls for Overhead Cranes under Payload and Cable Variations

Comparative Analysis of Neural-Network and Fuzzy Auto-Tuning Sliding Mode Controls for Overhead Cranes under Payload and Cable Variations

Stress analysis of gantry crane cylinder structure

Global-Equivalent Sliding Mode Control Method for Bridge Crane

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