DYNAMIC MODELLING OF A DOUBLE-PENDULUM GANTRY CRANE SYSTEM INCORPORATING PAYLOAD

2011 ◽  
Author(s):  
R. M. T. Raja Ismail ◽  
M. A. Ahmad ◽  
M. S. Ramli ◽  
R. Ishak ◽  
M. A. Zawawi ◽  
...  
Keyword(s):  
Dynamic Modelling ◽  
Gantry Crane ◽  
Double Pendulum

scholarly journals Dynamic modelling and analysis of 3D overhead gantry crane system

2018 ◽  
Vol 7 (3) ◽  
pp. 1257
Author(s):  
Khalil Azha Mohd Annuar ◽  
Nik Azran Ab. Hadi ◽  
Mohamad Haniff Harun ◽  
Mohd Firdaus Mohd Ab. Halim ◽  
Siti Nur Suhaila Mirin ◽  
...  
Keyword(s):  
Linear Model ◽  
Nonlinear Dynamic ◽  
Equations Of Motion ◽  
Dynamic Modelling ◽  
Gantry Crane ◽  
Nonlinear Dynamic Model ◽  
Simulation Results ◽  
And Performance ◽  
Heavy Loads ◽  
Load Swing

The overhead gantry crane systems are extensively used in harbours and factories for transportation of heavy loads. The crane speeding up, required for motion, always induces undesirable load swing. This writings present dynamic modelling of a 3D overhead gantry crane sys-tem based on closed-form equations of motion. By using the Lagrange technique, a 3D overhead gantry crane system nonlinear dynamic model is deriving. Then perform a linearization process to obtain a linear model dynamic system. Finally, simulation results systems re-sponses of the derived nonlinear and linear model are presented showing the accuracy and performance of both model.  

Command-Shaping Control System for Double-Pendulum Gantry Cranes

2011 ◽  
Author(s):  
Ziyad N. Masoud ◽  
Khaled A. Alhazza
Keyword(s):  
Closed Loop ◽  
Single Mode ◽  
Feedback System ◽  
Mode Frequency ◽  
Gantry Crane ◽  
Necessary Condition ◽  
Double Pendulum ◽  
Double Step ◽  
Scaled Model ◽  
Command Shaping

Traditionally, multi-mode command-shaping controllers are tuned to the system frequencies. This work suggests an opposite approach. A frequency-modulation (FM) strategy is developed to tune the system frequencies to match the frequencies eliminated by a single-mode command-shaper. The shaper developed in this work is based on a double-step command-shaping strategy. Using the FM Shaper, a simulated feedback system is used to modulate the closed-loop frequencies of a simulated double-pendulum model to the point where the closed-loop second mode frequency becomes an odd multiple of the closed-loop first mode frequency, which is the necessary condition for a satisfactory performance of a single-mode command-shaper. The double-step command-shaper is based on the closed-loop first mode frequency. The input commands to the plant of the simulated closed-loop system are then used to drive the actual double-pendulum. Performance is validated experimentally on a scaled model of a double-pendulum gantry crane.

A Hybrid Command-Shaping Control System for Highly Accelerated Double-Pendulum Gantry Cranes

2009 ◽  
Author(s):  
Ziyad N. Masoud ◽  
Khalid A. Alhazza ◽  
Majed A. Majeed ◽  
Eiyad A. Abu-Nada
Keyword(s):  
Control Systems ◽  
Degrees Of Freedom ◽  
Gantry Crane ◽  
System Control ◽  
Double Pendulum ◽  
Pendulum System ◽  
Command Shaping ◽  
Simple Pendulum ◽  
Time Optimal ◽  
Gantry Cranes

A gantry cranes is generally modeled as a simple-pendulum with a point mass attached to the end of a massless rigid link. Numerous control systems have been developed to reduce payload oscillations in order to improve safety and positioning accuracy of crane operations. However, large-size payloads transforms the crane model from a simple-pendulum system to a double-pendulum system. Control systems that consider only one mode of oscillations of a double-pendulum may excite large oscillations in the other mode. In multi-degrees-of-freedom systems, command-shaping controllers designed for the first mode may eliminate oscillations of higher modes provided that their frequencies are odd integer multiples of the first mode frequency. In this work, a hybrid command-shaping controller is designed to generate acceleration commands to suppress travel and residual oscillations of a highly accelerated double-pendulum gantry crane. It is shown that the suggested hybrid command-shaper is capable of minimizing oscillations of both modes of a scaled experimental double-pendulum model of a gantry crane. Results show that the hybrid command-shaper produces a reduction of 95% in residual oscillations in both modes of the double-pendulum over the time-optimal rigid-body commands.

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

Symmetry ◽  
2019 ◽  
Vol 11 (12) ◽  
pp. 1511 ◽  
Author(s):  
Huaitao Shi ◽  
Gang Li ◽  
Xin Ma ◽  
Jie Sun
Keyword(s):  
Control Method ◽  
External Disturbance ◽  
Control Signal ◽  
System Stability ◽  
Gantry Crane ◽  
Double Pendulum ◽  
Nonlinear Coupling ◽  
Closed Loop System ◽  
Motion System ◽  
New Energy

The double pendulum type gantry crane is a typical symmetry underactuated motion system. It has control problems in that the swing of the payload is difficult to suppress and the precise positioning of the trolley is not accurate. A new nonlinear coupling control method based on improved energy is proposed in this paper. We define coupled control signal among trolley, hook and payload. An improved energy storage function is established based on the new coupling control signal. Consequently, a nonlinear anti-swing controller is constructed straightforwardly, and the closed-loop system stability is subject to strict mathematics analysis by Lyapunov and LaSalle’ s theorem. Moreover, the new energy function based on the coupling behaving between the trolley motion and the payload swing leads to the improved control performance. Numerical simulation results show that the proposed method has better performance than traditional controllers. It not only effectively suppresses the swing of the load and the hook, but also precisely controls the displacement of the trolley. It has strong robustness to the displacement of the payload, the change of the gantry crane parameters and the external disturbance.

scholarly journals Gantry crane control of a double-pendulum, distributed-mass load, using mechanical wave concepts

2013 ◽  
Vol 4 (2) ◽  
pp. 251-261 ◽  
Author(s):  
W. O'Connor ◽  
H. Habibi
Keyword(s):  
Degrees Of Freedom ◽  
Equations Of Motion ◽  
Gantry Crane ◽  
Double Pendulum ◽  
Lumped Mass ◽  
Flexible System ◽  
Reference Motion ◽  
Mass Load ◽  
Control Authority ◽  
Input Variables

Abstract. The overhead trolley of a gantry crane can be moved in two directions in the plane. The trolley is attempting to control the motion of a suspended, rigid-body, distributed mass load, supported by a hook, modelled as a lumped mass, in turn connected to the trolley by a light flexible cable. This flexible system has six degrees of freedom, four variables describing the flexible, hanging load dynamics and two (directly controlled) input variables for the trolley position. The equations of motion are developed and the crane model is verified. Then a form of wave-based control (WBC) is applied to determine what trolley motion should be used to achieve a reference motion of the load, with minimum swing during complex manoeuvres. Despite the trolley's limited control authority over the complex, flexible 3-D dynamics, WBC enables the trolley to achieve very good motion control of the load, in a simple, robust and rapid way, using little sensor information, with all measurements taken at or close to the trolley.

Tracking Trajectory Control of a Double Pendulum Gantry Crane Using ADRC Approach

2021 ◽  
pp. 92-100
Author(s):  
Rodrigo Ramirez-Juarez ◽  
Mario Ramírez-Neria ◽  
Alberto Luviano-Juárez
Keyword(s):  
Trajectory Control ◽  
Gantry Crane ◽  
Double Pendulum ◽  
Tracking Trajectory

Research on Nonlinear Coupled Tracking Controller for Double Pendulum Gantry Cranes With Load Hoisting/lowering

2021 ◽  
Author(s):  
Huaitao Shi ◽  
Fuxing Yao ◽  
Zhe Yuan ◽  
Shenghao Tong ◽  
Yinghan Tang ◽  
...  
Keyword(s):  
External Disturbance ◽  
Good Control ◽  
System Stability ◽  
Gantry Crane ◽  
Double Pendulum ◽  
Theoretical Derivation ◽  
Pendulum Swing ◽  
Smooth Tracking ◽  
Load Swing ◽  
Gantry Cranes

Abstract 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 anti-swing 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 achieve good control effects and has strong robustness under the condition of changing the load mass, trolley target displacement, system initial swing angles and adding external disturbance.

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