The development of an autonomous mobile overhead crane system for the liquid tank transfer

Kaneshige, Akihiro; Miyoshi, Takanori; Terashima, Kazuhiko

doi:10.1109/aim.2009.5229942

Cited by 11 publications

(4 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Yano and K. Terashima, 2001), notch filter (A. Kaneshige et al, 2009), command shaping (Alshaya and Alghanim, 2020; Alshaya and Almujarrab, 2020), and input shaping (AlSaibie and Singhose 2013; Murthy et al, 2012; Pridgen et al, 2013). The input shapers were convolved with a smooth command to suppress multiple sloshing modes (Baozeng and Lemei, 2014; Xing and Huang, 2020; Zang et al, 2015).…”

Section: Introductionmentioning

confidence: 99%

“…Biagiotti et al (2018) used a harmonic smoother composed of input shaper and low-pass filter to shape the input trajectory in the runtime process. Most of the controlling techniques were designed based on the equivalent mechanical models: pendulum damper models (Baozeng and Lemei, 2014; Biagiotti et al, 2018; Kaneshige et al, 2009; Yano and Terashima, 2001) or mass–spring–damper systems (AlSaibie and Singhose, 2013; Alshaya and Alghanim, 2020; Alshaya and Almujarrab, 2020; Murthy et al, 2012; Pridgen et al, 2013; Reyhanoglu and Rubio Hervas, 2013). These models are based on the assumption that the liquid behaves in its fundamental mode predominantly.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Robust multi-steps input command for liquid sloshing control

Alshaya

Alshayji

2021

Journal of Vibration and Control

View full text Add to dashboard Cite

A robust input command based on multiple steps for eliminating the residual vibrations of a multimode linear system is proposed. Only the system resonant frequencies are needed to determine the step magnitudes in the shaped command. The command duration is selectable to help in designing an optimum command that compensates between the reduction in the transient vibration, the enhancement in the command robustness, and the increase in the total maneuver time. The induced transient and residual sloshing oscillations of a suspended water-filled container are suppressed using the proposed command. The dynamics of the sloshing is numerically simulated using finite element method that accommodates the interactions between the fluid, structural, and multi-body dynamics. A short move time penalty is incurred with the price of significant reduction in the liquid sloshing. The performance of the shaped command to the system parameters and the robustness to their uncertainty are investigated. An improved robust input command in the presence of uncertainties in the cable length and water depth is also introduced. The effectiveness and excellence of the proposed command is demonstrated through a comparison with multimode zero-vibration input shaper and time-optimal flexible-body control.

show abstract

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robust multi-steps input command for liquid sloshing control

Alshaya

Alshayji

2021

Journal of Vibration and Control

View full text Add to dashboard Cite

show abstract

“…Yano and Terashima (2001) employed H ∞ control theory to suppress sloshing in transferring a liquid container horizontally and with the rotational motion of the container by modelling the sloshing dynamics as an equivalent simple pendulum. Kaneshige et al (2009) proposed an autonomous mobile overhead crane system that detects obstacles and suppresses sloshing in the transfer of a liquid tank. Zang and Huang (2015) and Huang and Zhao (2018) developed a three-dimensional nonlinear slosh model for suppressing the sloshing in a moving container.…”

Section: Introductionmentioning

confidence: 99%

A smooth polynomial shaped command for sloshing suppression of a suspended liquid container

Alshaya

Almujarrab

2020

Transactions of the Institute of Measurement and Control

View full text Add to dashboard Cite

A smooth polynomial shaped command with an adjustable command time length is proposed for eliminating the residual vibrations of a multi-mode system. The ability of eliminating jerks and vibrational modes, regardless of their number, offers the most advantage of the proposed command. A numerical simulation is conducted to test the command’s effectiveness by eliminating the residual sloshing oscillations of a liquid-filled container conveyed by an overhead crane in a rest-to-rest manoeuvre. The governing equations of the liquid free-surface level are derived by modelling the sloshing dynamics by a series of mass–spring–damper harmonics. The proposed model accounts for the coupling between the pendulum dynamics and the sloshing equivalent mechanical model. The command’s robustness to the system parameters’ uncertainties, liquid depth and cable length, are investigated as well. The ability of adjusting the command length and retaining higher sloshing modes in command-designing are also outlined.

show abstract

“…The gantry crane systems are important in many industrial applications including the 3D crane systems as representative Multi Input-Multi Output (MIMO) systems. Some current control approaches related to 3D crane systems reported in the literature deal with the combination of time-optimal control and of visual feedback (Yoshida and Tabata, 2008), PID controllers with friction compensation (Westerberg et al, 2008), inertia theorem-based nonlinear controllers (Chang and Chiang, 2008), nonlinear tracking control structures (Chwa, 2009), feed-forward and input-shaping techniques (Kaneshige et al, 2009), sliding mode control (Pisano et al, 2010) or gain scheduling techniques (Cuenca et al, 2011).…”

Section: Introductionmentioning

confidence: 99%

Iterative Learning Control Application to a 3d Crane System

Precup

Enache

Rădac

et al. 2011

Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics

View full text Add to dashboard Cite

This paper deals with the application of an Iterative Learning Control (ILC) structure to the position control of a 3D crane system in the crane position control problem. The control system structure involves Cascade Learning (CL) built around control a loop with a frequency domain designed lead-lag controller. The parameters of the continuous-time real PD learning rule as lead-lag controller are set such that to fulfil the convergence condition of the CL process. A set of real-time experimental results concerning a 3D crane system laboratory equipment is offered to validate the new CL-based ILC structure.

show abstract

The development of an autonomous mobile overhead crane system for the liquid tank transfer

Cited by 11 publications

References 4 publications

Robust multi-steps input command for liquid sloshing control

Robust multi-steps input command for liquid sloshing control

A smooth polynomial shaped command for sloshing suppression of a suspended liquid container

Iterative Learning Control Application to a 3d Crane System

Contact Info

Product

Resources

About