Research on Nonlinear Coupling Anti-Swing Control Method of Double Pendulum Gantry Crane Based on Improved Energy

Shi, Huaitao; Li, Gang; Ma, Xin; Sun, Jie

doi:10.3390/sym11121511

Cited by 14 publications

(8 citation statements)

References 45 publications

(54 reference statements)

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“…Underactuated gantry cranes, as a kind of large-scale lifting facilities, have the characteristics of flexible system, efficient transportation and low cost, so gantry cranes are widely used in many industries such as construction, metallurgy and logistics [1,2]. As a representative nonlinear underactuated system, the number of independent input control variables of gantry crane is less than the number of system degrees of freedom [3].…”

Section: Introductionmentioning

confidence: 99%

Research on nonlinear coupled tracking controller for double pendulum gantry cranes with load hoisting/lowering

et al. 2022

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Gantry cranes, which have attracted extensive attention, are mostly simplified as nonlinear single pendulum systems without load hoisting/lowering. However, in fact, due to the existence of the hook, gantry cranes produce double pendulum swing. With an extra underactuated degree of freedom, the antiswing control of the double pendulum gantry cranes becomes more difficult than that of single pendulum gantry cranes, especially when load hoisting/lowering is considered simultaneously. Moreover, large swings, which lead to problems such as inaccurate positioning and low transportation efficiency, may be caused by double pendulum gantry cranes with load hoisting/lowering. In this paper, a nonlinear coupled tracking anti-swing controller is proposed to solve these problems. In this controller, a smooth tracking trajectory is introduced to ensure the stable start and run of the trolley, and a coupled signal is constructed to eliminate the residual swing angles of gantry crane system. The system stability is analyzed by using Lyapunov method and Barbarat theorem. Theoretical derivation, simulation and experimental results show that the proposed controller has excellent control performance, specifically, not only does it ensure accurate positioning of the load, but also it suppresses and eliminates the hook/load swing angle effectively. The proposed controller can still

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Section: Introductionmentioning

confidence: 99%

Research on nonlinear coupled tracking controller for double pendulum gantry cranes with load hoisting/lowering

et al. 2022

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“…Comparison of basic control performance simulation To verify the control effect of the controller proposed in this paper, we compared the classic LQR controller [10,24], PD controller [5] and adaptive trajectory tracking controller(ATTC) [24] in the modernized control theory after linearization.…”

Section: Simulation Results and Experimental Analysismentioning

confidence: 99%

“…Since the energy of the system can reflect its motion state, according to the dynamic model of underactuated system of tower crane analyzed above, its energy can be obtained as follows [5,11]:…”

Section: Controller Designmentioning

confidence: 99%

“…At present, most scholars have done lots of research on the automatic control system of underactuated overhead cranes. There are both traditional open-loop control methods without state feedback [3], and closed-loop control methods with state feedback [4][5][6][7][8][9]. These control methods are of great significance for studying anti-swing control of nonlinear underactuated tower cranes.…”

Section: Introductionmentioning

confidence: 99%

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Nonlinear Anti-swing Control of Underactuated Tower Crane Based on Improved Energy Function

Shi

Huang

Bai

et al. 2021

Int. J. Control Autom. Syst.

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The control system of tower crane exhibits strong nonlinearity in the process of control execution, which is prone to the problems of inaccurate positioning control of the payload and difficult anti-swing control. Aiming at the problems, this paper proposes a control law based on improved energy coupling analysis for suppressing the payload swing in the tower cranes. A three-dimensional dynamic model of tower crane system with considering friction is established, and an improved energy coupling signal is designed. The coupling relationship of trolley movement and payload swing, jib rotation and payload swing are considered, then a nonlinear anti-swing controller is established in order to reduce the swing. The closed-loop stability of the system with the controller is verified by the Lyapunov method and LaSalle invariance principle, simulations and experimental analyses are performed to verify the controller performance. The control performance of the controller is compared with other classic and typical current control methods, and the proposed controller outperformed other controllers. The anti-swing controller proposed in this paper has accurate positioning, and can achieve precise control when the payload is transported, reaching the set target position in a little time and eliminating residual swing angle. Meanwhile the proposed controller has a good control robustness, which can restore stability in around a very short time when the rope length and payload mass of the system's inherent property are changed and external interference is added. In addition, when different target position parameters are uncertain, the proposed control law has good robust performance.

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“…The second one is Surface Acoustic Wave Radio Frequency IDentification (SAW RFID) localization (Lyu et al 2019). Considering control algorithms, different solutions may be used, e.g., nonlinear coupling anti-swing control method (Shi et al 2019), a controller designed based on uniformly ultimately bounded (UUB) theory (Park et al 2021), classical PID, or other nonlinear control strategies.…”

Section: Education and Maritime Industrymentioning

confidence: 99%

Measurement Of The Dynamics Of The Sheave Block Of Shipyard Crane With 1000 T Lifting Capacity For Verification Of The Laboratory Stand

Szymak¹,

Piskur²,

Goszczyński³

et al. 2021

ped

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The paper includes partial results of the development project entitled “The first Polish gantry crane with high lifting capacity for the shipbuilding industry adapted to work in difficult wind conditions – development and demonstration” (no POIR.01.02.00-00-0017/18). Due to the requirements of working in challenging wind conditions, the crane will be equipped with the sheave block with a hook operating automatically. To resolve this problem, mathematical and then physical models of the innovative crane are required. Therefore, to obtain reliable models, the measurement of the dynamics of the sheave block of crane with high lifting capacity was carried out. At the beginning of the paper, the conditions and used measurement stand are included. Then, the time and frequency analysis of the received measurement results are described. Moreover, the determination of the crane parameters is also presented. The analysis results will be used in further research to tune both the simulation and the physical models of the crane with an automatic hook, which are being developed.

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Research on Nonlinear Coupling Anti-Swing Control Method of Double Pendulum Gantry Crane Based on Improved Energy

Cited by 14 publications

References 45 publications

Research on nonlinear coupled tracking controller for double pendulum gantry cranes with load hoisting/lowering

Research on nonlinear coupled tracking controller for double pendulum gantry cranes with load hoisting/lowering

Nonlinear Anti-swing Control of Underactuated Tower Crane Based on Improved Energy Function

Measurement Of The Dynamics Of The Sheave Block Of Shipyard Crane With 1000 T Lifting Capacity For Verification Of The Laboratory Stand

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