Fixed-order gain-scheduling anti-sway control of overhead bridge cranes

Ermidoro, Michele; Cologni, Alberto Luigi; Formentin, Simone; Previdi, Fabio

doi:10.1016/j.mechatronics.2016.06.007

Cited by 13 publications

(6 citation statements)

References 16 publications

(22 reference statements)

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“…The presented method results in a computationally light polynomial reference signal, that can be calculated in closed form, and it is thereby implementable in virtually every commercially available servo drive and PLC. Moreover, the obtained reference signal (13) is parametrized in τ, that is, the total transition time, and in the parameters of the model in Figure 1, which are easy to measure.…”

Section: Methodsmentioning

confidence: 99%

“…The transfer function (13) describes the relation between the position of the cart and the position of the payload. Its inverse can be expressed as…”

Section: Cart Position (Velocity) To Payload Position (Velocity) Invementioning

confidence: 99%

“…The previous procedure can be applied straightforwardly also to determine the cartto-load speed inverting signal in the case of velocity control, as (13), and consequently (22), describe both the relation between the positions of cart and payload and the relation between the velocities of cart and payload. To this end, it is sufficient to substitutex p (·) with the desired speedv p (·) (defined as a transition polynomial) and x(·) with the cart inverting speed v(·).…”

Section: Cart Position (Velocity) To Payload Position (Velocity) Invementioning

confidence: 99%

“…Many of the different proposed methodologies are related to the closed-loop control of the system, in which the angle of the payload is measured. In this context, for example, a Lyapunov approach [5,6], a fuzzy logic mechanism [7][8][9], the model predictive control concept [10][11][12], a gain scheduling technique [13,14], sliding mode approach [15,16] and adaptive schemes [17] have been exploited. However, it has to be recognized that the simplest approach is to apply an openloop controller, that is, a motion planning method for which the cart motion is determined in order to obtain an efficient motion of the payload [18].…”

Section: Introductionmentioning

confidence: 99%

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Simplified input-output inversion control of a double pendulum overhead crane for residual oscillations reduction

et al. 2018

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In this paper we present the application of an input-output inversion technique for the open-loop control of an overhead crane modelled as a double pendulum. The method is mathematically derived, obtaining a parametric trajectory that ensures reduced residual oscillations. Then, it is shown that the postactuation can be neglected so that the method can be implemented with standard industrial drives. The robustness of the method is evaluated by means of simulations, and the performance of the method is experimentally compared with the well-known input shaping technique. The advantages of using a double pendulum model instead of a simple pendulum one are also shown.

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Section: Methodsmentioning

confidence: 99%

“…The transfer function (13) describes the relation between the position of the cart and the position of the payload. Its inverse can be expressed as…”

Section: Cart Position (Velocity) To Payload Position (Velocity) Invementioning

confidence: 99%

Section: Cart Position (Velocity) To Payload Position (Velocity) Invementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Simplified input-output inversion control of a double pendulum overhead crane for residual oscillations reduction

et al. 2018

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“…Until now, various control approaches have been presented for crane systems including input shaping method [2]- [10], trajectory generation method [11]- [15], tow-degree-of-freedom control approach [16]- [19], gain scheduling control [20], [21], sliding mode control [22]- [24], adaptive control [35]- [42], model predictive control methods [37]- [40], Lyapunov-based control approach [41]- [43], Fuzzy-based controller [44] and so on.…”

Section: Introductionmentioning

confidence: 99%

Novel Adaptive Hierarchical Sliding Mode Control for Trajectory Tracking and Load Sway Rejection in Double-Pendulum Overhead Cranes

et al. 2019

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Overhead cranes with double-pendulum effect seem more practical than those with singlependulum effect. However, in this case, the dynamic performance analysis and the controller design become more difficult. Moreover, achieving both high-precision trajectory tracking and load sway rejection is a more significant issue for crane systems. For these purposes, the nonlinear dynamics of an overhead crane with double-pendulum effect is derived for the controller design. Then, a novel adaptive hierarchical sliding mode controller is presented. Unlike a traditional approach, the proposed one can make fixed sliding mode surface active to search the state trajectories. Such an adaptive design can make the states of the system to enter the desired sliding surface as soon as possible and, at the same time, can also improve the cart tracking precision. The Lyapunov technique and LaSalle's principle are employed to confirm the stability of the whole system. The experimental results validate that the proposed method has superior control performance and robustness with respect to parameter variations. INDEX TERMS Overhead crane, double-pendulum effect, load sway rejection, tracking control, adaptive hierarchical sliding mode control.

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An adjustable look-ahead acceleration/deceleration hybrid interpolation technique with variable maximum feedrate

Huang

2017

Int J Adv Manuf Technol

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Fixed-order gain-scheduling anti-sway control of overhead bridge cranes

Cited by 13 publications

References 16 publications

Simplified input-output inversion control of a double pendulum overhead crane for residual oscillations reduction

Simplified input-output inversion control of a double pendulum overhead crane for residual oscillations reduction

Novel Adaptive Hierarchical Sliding Mode Control for Trajectory Tracking and Load Sway Rejection in Double-Pendulum Overhead Cranes

An adjustable look-ahead acceleration/deceleration hybrid interpolation technique with variable maximum feedrate

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