Safe distance prediction for braking control of bridge cranes considering anti‐swing

Chen, Huili; Liu, Guoliang; Tian, Guohui; Zhang, Jianhua; Ji, Ze

doi:10.1002/int.22743

Cited by 6 publications

(3 citation statements)

References 39 publications

(54 reference statements)

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“…Chen, H.L. [15] presented a model predictive control (MPC)-based non-zero initial state anti-swing method, which enables a lifting device to achieve a secure anti-swing stop state by following a reference route. Li, X.O.…”

Section: Introductionmentioning

confidence: 99%

Research on the Anti-Swing Control Methods of Dual-Arm Wheeled Inspection Robots for High-Voltage Transmission Lines

Yang,

Yan,

Zhang

et al. 2023

Actuators

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This paper presents an anti-swing control method to prevent situations where inspection robots detach and fall off transmission lines during obstacle crossing due to excessive swing angles caused by the rotation of the robot around the transmission line. Firstly, an obstacle-crossing model for the inspection robot was constructed and the causes of robot swinging phenomena were analyzed, in addition to their impact on obstacle crossing stability. By combining this with the obstacle-crossing model, a moment balance equation was established for the inspection robot. This equation can be used to solve mapping relationships between body offset and the tilt angle of transmission line gripping arms. We propose an anti-swing control strategy by adjusting the angle of the transmission line gripping arm’s pitching joint to make the body offset approach zero, and by utilizing the advantages of fuzzy logic in the fuzzy PID algorithm compared with the traditional PID algorithm, it can adaptively avoid the occurrence of robot swinging phenomena. The experimental results of obstacle-crossing experiments under no wind and wind turbulence conditions indicated that the proposed anti-swing control method in this study can effectively keep the body offset to within 3 mm. Compared with the methods of not using anti-swing control and using traditional PID anti-swing control, in the absence of wind effects, the peak values of body offset were reduced by 96.53% and 18.85%, respectively. Under the influence of wind turbulence, the peak values of body offset were reduced by 97.02% and 27.12%, respectively. The effectiveness of the anti-swing control method proposed in this paper has thus been verified.

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Section: Introductionmentioning

confidence: 99%

Research on the Anti-Swing Control Methods of Dual-Arm Wheeled Inspection Robots for High-Voltage Transmission Lines

Yang,

Yan,

Zhang

et al. 2023

Actuators

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show abstract

“…Although shaping technology has achieved a certain effect in the anti-sway control of cranes, its control object is best determined using model parameters, so the effect is not ideal when encountering external interference. Chen et al [5] used the model predictive control (MPC) method to control a crane to operate according to the reference trajectory, which was also an open-loop control method. Therefore, there is sensitivity to system parameter changes and external interferences as well as difficulty in successfully suppressing the crane's swing.…”

Section: Introductionmentioning

confidence: 99%

Design of Anti-Swing PID Controller for Bridge Crane Based on PSO and SA Algorithm

Hui

Qiao

et al. 2022

Electronics

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Since the swing of the lifting load and the positioning of the trolley during the operation of a bridge crane seriously affect the safety and reliability of its work, we have not only designed Proportional Integral Derivative (PID) controllers for the anti-swing and positioning control but also proposed a hybrid Particle Swarm Optimization (PSO) and Simulated Annealing (SA) algorithm to optimize the gains of the controllers. In updating the PSO algorithm, a nonlinear adaptive method is utilized to update the inertia weight and learning coefficients, and the SA algorithm is also integrated when the PSO algorithm is searching for a global optimal solution, to reduce the probability of falling into the local optimal solution. The simulation results demonstrate that the PSO–SA algorithm proposed in this paper is prone to be a more effective method in searching for the optimal parameters for the controllers, compared with three other algorithms. As shown by the experimental results, the swing angle stabilization time of the novel algorithm is 6.9 s, while the values of the other algorithms range from 10.3 to 13.1 s under a common working condition. Simultaneously, the maximum swing angle of the novel algorithm is 7.8°, which is also better than the other algorithms.

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“…Ungureanu Miorita et al did some research on bridge crane brake from the tribological point of view and proved that the magnitude of the friction coefficient is affected by factors such as, the initial speed, the working environment, etc., and established the relevant relationship equations [2] .Chen Huili et al investigated the collision avoidance capability of bridge crane and established a linear physical state and control model of bridge crane to predict the safety distance [3] . Predicted the safety distance of bridge cranes .Ghigliazza R M et al studied the dynamics of tower cranes and explained in detail that the dynamics equations of linearly accelerated supports are fully integrable, and the support system of a uniformly accelerated circle, although the energy is conserved, but it cannot be proved that the angular momentum is conserved and is not integrable [4] .…”

mentioning

confidence: 99%

Analysis and research on electromechanical-pneumatic-mechanical braking performance of crane hoisting mechanism

WANG,

BU,

ZHOU

et al. 2024

Preprint

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As an important actuator of the crane, the hoisting mechanism adopts the composite braking method of electrical + mechanical braking under normal working conditions, and usually adopts the mechanical braking brake under emergency working conditions. In emergency situations, mechanical brake systems are commonly used. Through theoretical analysis, a dynamic model of the hoisting mechanism was established. Simulation models were developed using MATLAB/SIMILINK software to simulate the actual braking process under both normal and emergency braking conditions. The braking performance under different conditions was analyzed. The results show that the control strategy of electromechanical composite braking can display the electromagnetic transition and mechanical transition in the braking process in real-time, and obtain the braking performance under multiple braking conditions. The analysis and study of the dynamic change process of braking performance has certain guiding significance for the actual braking working conditions.

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Safe distance prediction for braking control of bridge cranes considering anti‐swing

Abstract: Cranes are widely deployed for lifting and moving heavy objects in dynamic environments with human coexistence. Suddenly appeared workers, vehicles, and robots can affect the safety of the cranes. To avoid

Cited by 6 publications

References 39 publications

Research on the Anti-Swing Control Methods of Dual-Arm Wheeled Inspection Robots for High-Voltage Transmission Lines

Research on the Anti-Swing Control Methods of Dual-Arm Wheeled Inspection Robots for High-Voltage Transmission Lines

Design of Anti-Swing PID Controller for Bridge Crane Based on PSO and SA Algorithm

Analysis and research on electromechanical-pneumatic-mechanical braking performance of crane hoisting mechanism

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