Modeling and control of overhead cranes: A tutorial overview and perspectives

Mojallizadeh, Mohammad Rasool; Brogliato, Bernard; Prieur, Christophe

doi:10.1016/j.arcontrol.2023.03.002

Cited by 10 publications

(2 citation statements)

References 293 publications

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“…Cranes are widely employed devices for handling heavy-weight goods during manufacturing processes [1]. These devices consist of a platform moving along a linear, planar, or spatial trajectory to transport a load which is connected to the platform through wires, ropes, or chains.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Planning through Model Inversion of an Underactuated Spatial Gantry Crane Moving in Structured Cluttered Environments

Bettega,

Richiedei,

Tamellin

2024

Actuators

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Handling suspended loads in cluttered environments is critical due to the oscillations arising while the load is traveling. Exploiting active control algorithms is often unviable in industrial applications, due to the necessity of installing sensors on the load side, which is expensive and often impractical due to technological limitations. In this light, this paper proposes a trajectory planning method for underactuated, non-flat, non-minimum phase spatial gantry crane moving in structured cluttered environments. The method relies on model inversion. First, the system dynamics is partitioned into actuated and unactuated coordinates and then the load displacements are described as a non-linear separable function of these. The unactuated dynamic is unstable; hence, the displacement, velocity, and acceleration references are modified through the output redefinition technique. Finally, platform trajectory is computed, and the desired displacements of the load are obtained. The effectiveness of the proposed method is assessed through numerical and experimental tests performed on a laboratory testbed composed by an Adept Quattro robot moving a pendulum. The load is moved in a cluttered environment, and collisions are avoided while simultaneously tracking the prescribed trajectory effectively.

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Section: Introductionmentioning

confidence: 99%

Trajectory Planning through Model Inversion of an Underactuated Spatial Gantry Crane Moving in Structured Cluttered Environments

Bettega,

Richiedei,

Tamellin

2024

Actuators

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show abstract

“…Crane systems are the most commonly used tools in shipping yards, industries, construction sites, warehouses, and mining sites, among others, to transport goods from one place to another. The emergence of high‐rise buildings, as well as the production of equipment of large sizes, encourages the use of modern systems, especially tower crane systems (TCS), to conveniently accomplish various tasks within the shortest period (Mojallizadeh et al, 2023; Tang et al, 2023). There are commonly three types of crane systems depending on the application; gantry cranes (Cuong & Tuan, 2023), boom cranes (Sun et al, 2023), and tower cranes (Schatz & Caverly, 2023).…”

Section: Introductionmentioning

confidence: 99%

Hybrid input shaping and fuzzy logic‐based position and oscillation control of tower crane system

Alhassan,

Assawinchaichote,

Zhang

et al. 2023

Expert Systems

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Effective control of the tower crane system (TCS) is crucial for the safe and quick transport of goods from one point to another in industries and construction sites. However, the existing literature either depends on the dynamic model of the system, which is prone to errors and assumptions, or requires the feedback of the states to be controlled, which can be costly and or complex. In particular, the TCS has many states and is highly nonlinear. Thus, a non‐model‐based control approach that depends on minimal feedback sensors is needed. The primary contribution of this work is that the potential hybrid configurations of the input shaping control (ISC) and fuzzy logic control (FLC) were proposed and investigated. The study provides the best hybrid configuration of the ISC and FLC (non‐model‐based controllers) for optimal positioning and anti‐swing control of the TCS. Three configurations of the ISC + FLC, namely shaper as reference input (SARI), shaper as input to the FLC (SAI2F), and shaper as input to the plant (SAI2P) were investigated to assess the optimal hybrid configuration of the ISC + FLC. The results demonstrated that the hybrid ISC + FLC scheme had improved the response of ISC by at least 150% and enhanced the oscillation reduction of FLC by 72%. Finally, these analyses showed that the ISC + FLC could achieve reasonable control of the tower crane by only considering the output of one state (position). This makes the control scheme cheaper and reduces the complexity and computational time compared to other full‐state feedback controllers.

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A waveform command shaping control of a double pendulum with nonzero initial conditions

Alfares,

Alhazza

2024

Asian Journal of Control

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In most material handling industries, input‐ and command‐shaping techniques are extensively used to transfer objects safely. In these techniques, most of the work assumes a single‐degree‐of‐freedom system with zero initial conditions, and some of these cases are not practical. In crane systems, a crane jib cannot be positioned exactly on top of the payload at the start of transfer motion, which forces the system to start with initial angles. Furthermore, when the hook is large and/or far from the payload, the system cannot be considered a single‐degree‐of‐freedom system. Not accounting for such conditions can create unwanted oscillations at the end of the motion. In this work, a closed‐form command shaping control of a double pendulum is suggested to eliminate the residual oscillations while considering nonzero initial angles. The equation of motion is derived and then solved to find the shaper constants analytically. This shaper has a selectable maneuvering time and ensures maximum cruising velocity. Several examples are implemented numerically and experimentally to evaluate the shaper's performance. Despite the nonzero initial conditions, the results showed that the shaper can effectively eliminate all induced vibrations at the end of the maneuver.

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Modeling and control of overhead cranes: A tutorial overview and perspectives

Cited by 10 publications

References 293 publications

Trajectory Planning through Model Inversion of an Underactuated Spatial Gantry Crane Moving in Structured Cluttered Environments

Trajectory Planning through Model Inversion of an Underactuated Spatial Gantry Crane Moving in Structured Cluttered Environments

Hybrid input shaping and fuzzy logic‐based position and oscillation control of tower crane system

A waveform command shaping control of a double pendulum with nonzero initial conditions

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