Feedforward control input generation method for a crane system with restrictions on drive system

Matsui, Kosuke; Kajiwara, Hidekazu

doi:10.1016/j.ymssp.2022.108865

Cited by 4 publications

(3 citation statements)

References 20 publications

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“…The dynamics equations of the system are obtained using the Lagrangian equation (Alghanim et al, 2018; Alhazza, 2017; Matsui and Kajiwara, 2022). The kinetic energy of the load for the system shown in Figure 1 is shown in equation (1)where x˙ is the trolley velocity, li is the rope length at time t, and li˙ is velocity of the hoisting.…”

Section: Mathematical Modelsmentioning

confidence: 99%

Anti-sway control of variable rope length container crane based on phase plane trajectory planning

Huang

Niu

Zhou

et al. 2023

Journal of Vibration and Control

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An overhead crane system is a complex time-varying system if it includes simultaneous hoisting and moving operations. To address the problem that time-varying systems usually have no exact analytical solution, an anti-swing method based on linear approximation of the phase plane trajectory is proposed. Specifically, the phase plane trajectory of the swing angle is first analyzed and it is found that the double-step acceleration method with unequal acceleration amplitude and acceleration time has a combination of limit loops in the phase plane trajectory of the swing angle when the rope length varies, so the average rope length of each section is used to approximate the natural oscillation frequency. Next, the input shaping technique is used to shape the input signal into the desired output signal so that the load swing angle can follow the planned trajectory. The desired acceleration amplitude and switching time are then derived based on the geometric relationship between the swing angle in the phase plane and the specific physical constraints. Finally, the feasibility of the proposed method is verified by numerical simulations.

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Section: Mathematical Modelsmentioning

confidence: 99%

Anti-sway control of variable rope length container crane based on phase plane trajectory planning

Huang

Niu

Zhou

et al. 2023

Journal of Vibration and Control

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“…This problem is extensively studied in the literature, and various open-loop and closed-loop control strategies are comprehensively reviewed in [2], while the more current state of the art focusing on the modeling and control of overhead cranes is provided in [3]. Recent works include input shaping [4,5], time-optimal [6], command shaping [7], and feedforward [8] anti-sway crane control strategies. New concepts in the field of closed-loop control have been developed using PID-like coupling control [9,10], sliding mode control [11] combined with a state observer [12] or PD controller [13], passivity-based control [14,15], H-infinity [16], and back-stepping-based [17] control schemes.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Model Predictive Control with Evolutionary Data-Driven Prediction Model and Particle Swarm Optimization Optimizer for an Overhead Crane

Kusznir,

Smoczek

2024

Applied Sciences

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This paper presents a new approach to the nonlinear model predictive control (NMPC) of an underactuated overhead crane system developed using a data-driven prediction model obtained utilizing the regularized genetic programming-based symbolic regression method. Grammar-guided genetic programming combined with regularized least squares was applied to identify a nonlinear autoregressive model with an exogenous input (NARX) prediction model of the crane dynamics from input–output data. The resulting prediction model was implemented in the NMPC scheme, using a particle swarm optimization (PSO) algorithm as a solver to find an optimal sequence of the control actions satisfying multi-objective performance requirements and input constraints. The feasibility and performance of the controller were experimentally verified using a laboratory crane actuated by AC motors and compared with a discrete-time feedback controller developed using the pole placement technique. A series of experiments proved the effectiveness of the controller in terms of robustness against operating condition variation and external disturbances.

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“…Shah and Hong [10] applied input shaping for the underwater transport of nuclear power plant's fuel. There have been numerous publications related to the use of input shapers [1,2,11] for sway control of cranes [12,5,13,14,15,16,17,18,19,20,21,22]. Maghsoudi et al [23] applied a distributed time-delay filter on a gantry crane.…”

Section: Introductionmentioning

confidence: 99%

Minimum time control of a gantry crane system with rate constraints

Stein

Singh

2023

Mechanical Systems and Signal Processing

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Feedforward control input generation method for a crane system with restrictions on drive system

Cited by 4 publications

References 20 publications

Anti-sway control of variable rope length container crane based on phase plane trajectory planning

Anti-sway control of variable rope length container crane based on phase plane trajectory planning

Nonlinear Model Predictive Control with Evolutionary Data-Driven Prediction Model and Particle Swarm Optimization Optimizer for an Overhead Crane

Minimum time control of a gantry crane system with rate constraints

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