Swing reduction for double‐pendulum three‐dimensional overhead cranes using energy‐analysis‐based control method

2021 ◽  
Author(s):  
Huimin Ouyang ◽  
Bingqing Zhao ◽  
Guangming Zhang
Keyword(s):  
Energy Analysis ◽  
Control Method ◽  
Three Dimensional ◽  
Double Pendulum ◽  
Overhead Cranes

scholarly journals Design of simultaneous input-shaping-based SIRMs fuzzy control for double-pendulum-type overhead cranes

2015 ◽  
Vol 63 (4) ◽  
pp. 887-896 ◽  
Author(s):  
D. Qian ◽  
S. Tong ◽  
B. Yang ◽  
S. Lee
Keyword(s):  
Fuzzy Control ◽  
Control Method ◽  
Fuzzy Controller ◽  
Input Shaping ◽  
Double Pendulum ◽  
Overhead Cranes ◽  
Control Command ◽  
Single Input ◽  
System Variables ◽  
Simultaneous Input

Abstract Overhead cranes are extensively employed but their performance suffers from the natural sway of payloads. Sometime, the sway exhibits double-pendulum motions. To suppress the motions, this paper investigates the design of simultaneous input-shaping-based fuzzy control for double-pendulum-type overhead cranes. The fuzzy control method is based on the single input-rule modules (SIRMs). Provided the all the system variables are measurable, the SIRMs fuzzy controller is designed at first. To improve the performance of the fuzzy controller, the simultaneous input shaper is adopted to shape the control command generated by the fuzzy controller. Compared with other two control methods, i.e., the SIRMs fuzzy control and the convolved input-shaping-based SIRMs fuzzy control, simulation results illustrate the feasibility, validity and robustness of the presented control method for the anti-swing control problem of double-pendulum-type overhead cranes.

scholarly journals A novel energy-coupling-based control method for double-pendulum overhead cranes with initial control force constraint

2018 ◽  
Vol 10 (1) ◽  
pp. 168781401775221 ◽  
Author(s):  
Menghua Zhang ◽  
Xin Ma ◽  
Xuewen Rong ◽  
Rui Song ◽  
Xincheng Tian ◽  
...  
Keyword(s):  
Control Method ◽  
Energy Coupling ◽  
Significant Feature ◽  
Double Pendulum ◽  
Control Force ◽  
Control Performance ◽  
External Disturbances ◽  
Overhead Cranes ◽  
Strong Robustness ◽  
Initial Control

A novel energy-coupling-based control method for under-actuated double-pendulum overhead cranes with initial control force constraint is proposed in this article. The significant feature of the designed controller is its superior control performance as well as its strong robustness with respect to parameter variations and external disturbances. By incorporating a smooth hyperbolic tangent function into the control law, the proposed controller guarantees soft start of the trolley. Moreover, to improve the transient performance of the crane system, coupling behavior among the trolley movement, the hook swing, and the payload swing is enhanced by introducing a generalized payload horizontal-displacement signal. Lyapunov techniques and LaSalle’s invariance theorem are utilized to prove the stability of the designed closed-loop system. Simulation results demonstrate that the new energy-coupling control method achieves superior control performance and strong robustness over different payload masses, cable lengths, desired positions, and external disturbances with reduced initial control force.

Disorganization of a hole tone feedback loop by an axisymmetric obstacle on a downstream end plate

2014 ◽  
Vol 757 ◽  
pp. 908-942 ◽  
Author(s):  
K. Matsuura ◽  
M. Nakano
Keyword(s):  
Nozzle Exit ◽  
Passive Control ◽  
Control Method ◽  
Three Dimensional ◽  
Acoustic Power ◽  
Shear Layers ◽  
Mean Velocity ◽  
End Plate ◽  
Air Jet ◽  
Practical Engineering

AbstractThis study investigates the suppression of the sound produced when a jet, issued from a circular nozzle or hole in a plate, goes through a similar hole in a second plate. The sound, known as a hole tone, is encountered in many practical engineering situations. The mean velocity of the air jet $\def \xmlpi #1{}\def \mathsfbi #1{\boldsymbol {\mathsf {#1}}}\let \le =\leqslant \let \leq =\leqslant \let \ge =\geqslant \let \geq =\geqslant \def \Pr {\mathit {Pr}}\def \Fr {\mathit {Fr}}\def \Rey {\mathit {Re}}u_0$ was $6\text {--}12\ \mathrm{m}\ {\mathrm{s}}^{-1}$. The nozzle and the end plate hole both had a diameter of 51 mm, and the impingement length $L_{im}$ between the nozzle and the end plate was 50–90 mm. We propose a novel passive control method of suppressing the tone with an axisymmetric obstacle on the end plate. We find that the effect of the obstacle is well described by the combination ($W/L_{im}$, $h$) where $W$ is the distance from the edge of the end plate hole to the inner wall of the obstacle, and $h$ is the obstacle height. The tone is suppressed when backflows from the obstacle affect the jet shear layers near the nozzle exit. We do a direct sound computation for a typical case where the tone is successfully suppressed. Axisymmetric uniformity observed in the uncontrolled case is broken almost completely in the controlled case. The destruction is maintained by the process in which three-dimensional vortices in the jet shear layers convect downstream, interact with the obstacle and recursively disturb the jet flow from the nozzle exit. While regions near the edge of the end plate hole are responsible for producing the sound in the controlled case as well as in the uncontrolled case, acoustic power in the controlled case is much lower than in the uncontrolled case because of the disorganized state.

Mechanism and Flow Control on the Mismatching of Impeller and Vaned Diffuser Caused by Inlet Prewhirl for Centrifugal Compressors

2016 ◽  
Author(s):  
Qiangqiang Huang ◽  
Xinqian Zheng ◽  
Aolin Wang
Keyword(s):  
Flow Control ◽  
Control Method ◽  
Three Dimensional ◽  
Navier Stokes ◽  
Vaned Diffuser ◽  
Inlet Distortion ◽  
Computational Fluid Dynamics Cfd ◽  
Stagger Angle ◽  
Good Agreement ◽  
Matching Relation

Air often flows into compressors with inlet prewhirl, because it will obtain a circumferential component of velocity via inlet distortion or swirl generators such as inlet guide vanes. A lot of research has shown that inlet prewhirl does influence the characteristics of components, but the change of the matching relation between the components caused by inlet prewhirl is still unclear. This paper investigates the influence of inlet prewhirl on the matching of the impeller and the diffuser and proposes a flow control method to cure mismatching. The approach combines steady three-dimensional Reynolds-averaged Navier-Stokes (RANS) simulations with theoretical analysis and modeling. The result shows that a compressor whose impeller and diffuser match well at zero prewhirl will go to mismatching at non-zero prewhirl. The diffuser throat gets too large to match the impeller at positive prewhirl and gets too small for matching at negative prewhirl. The choking mass flow of the impeller is more sensitive to inlet prewhirl than that of the diffuser, which is the main reason for the mismatching. To cure the mismatching via adjusting the diffuser vanes stagger angle, a one-dimensional method based on incidence matching has been proposed to yield a control schedule for adjusting the diffuser. The optimal stagger angle predicted by analytical method has good agreement with that predicted by computational fluid dynamics (CFD). The compressor is able to operate efficiently in a much broader flow range with the control schedule. The flow range, where the efficiency is above 80%, of the datum compressor and the compressor only employing inlet prewhirl and no control are just 25.3% and 31.8%, respectively. For the compressor following the control schedule, the flow range is improved up to 46.5%. This paper also provides the perspective of components matching to think about inlet distortion.

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