Dynamics and Control of Bridge Cranes Transporting Distributed-Mass Payloads

2009 ◽  
Vol 132 (1) ◽  
Author(s):  
Raymond Manning ◽  
Jeffrey Clement ◽  
Dooroo Kim ◽  
William Singhose
Keyword(s):  
Control Method ◽  
Single Mode ◽  
Input Shaping ◽  
Double Pendulum ◽  
Efficient Operation ◽  
Performance Improvements ◽  
Dynamics And Control ◽  
Damped Oscillation ◽  
And Control ◽  
Input Shaping Control

The large-amplitude and lightly-damped oscillation of crane payloads is detrimental to safe and efficient operation. The problem is further complicated when the payload creates a double-pendulum effect. Previous researches have shown that single-mode oscillations can be greatly reduced by properly shaping the inputs to the crane motors. This paper builds on previous developments by thoroughly describing the double-pendulum dynamic effects as a function of payload parameters and the crane configuration. Furthermore, an input-shaping control method is developed to suppress double-pendulum oscillations created by a payload with distributed-mass properties. Experiments performed on a 10-ton industrial bridge crane verify the effectiveness of the method. A critical aspect of the testing was human operator studies, wherein numerous operators utilized the input-shaping controller to perform manipulation tasks. The performance improvements provided by the input-shaping controller, as well as operator learning effects, are reported.

Input Shaping Control of Double-Pendulum Bridge Crane Oscillations

2008 ◽  
Vol 130 (3) ◽  
Author(s):  
William Singhose ◽  
Dooroo Kim ◽  
Michael Kenison
Keyword(s):  
Single Mode ◽  
Input Shaping ◽  
Double Pendulum ◽  
Bridge Crane ◽  
Efficient Operation ◽  
Input Shaper ◽  
Large Amplitude Oscillation ◽  
Control Research ◽  
Pendulum Dynamics ◽  
Input Shaping Control

Large amplitude oscillation of crane payloads is detrimental to safe and efficient operation. Under certain conditions, the problem is compounded when the payload creates a double-pendulum effect. Most crane control research to date has focused on single-pendulum dynamics. Several researchers have shown that single-mode oscillations can be greatly reduced by properly shaping the inputs to the crane motors. This paper builds on those previous developments to create a method for suppressing double-pendulum payload oscillations. The input shaping controller is designed to have robustness to changes in the two operating frequencies. Experiments performed on a portable bridge crane are used to verify the effectiveness of this method and the robustness of the input shaper.

Dynamics and Control of Crane Payloads That Bounce and Pitch During Hoisting

2009 ◽  
Author(s):  
Jisup Yoon ◽  
William Singhose ◽  
Joshua Vaughan ◽  
Gabriel Ramirez ◽  
Michael Kim ◽  
...  
Keyword(s):  
Control Algorithm ◽  
Theoretical Models ◽  
Input Shaping ◽  
Dynamic Effects ◽  
Efficient Operation ◽  
Tower Crane ◽  
Control Research ◽  
Dynamics And Control ◽  
And Control ◽  
Input Shaping Control

The natural sway of crane payloads is detrimental to safe and efficient operation. Most crane control research has focused on oscillation induced by motion of the overhead trolley that is perpendicular to the vertical suspension cables. Little consideration has been given to bouncing oscillation in the hoist direction and pitching oscillation with respect to mass center of the payload. These dynamic effects arise in cases when the suspension cables are very long. These oscillations may interfere with the ability of the crane operators to accurately unload the payload at its desired position and orientation. This paper presents a method for generating shaped commands that suppress payload oscillations of bouncing and pitching. Theoretical models are initially used to develop and evaluate the input-shaping control algorithm. Then, experiments performed on a portable tower crane are used to demonstrate the improved response provided by the proposed approach.

Human Operator Learning on Double-Pendulum Bridge Cranes

2007 ◽  
Author(s):  
Dooroo Kim ◽  
William Singhose
Keyword(s):  
Control Method ◽  
Performance Testing ◽  
Human Operator ◽  
Input Shaping ◽  
Double Pendulum ◽  
Bridge Crane ◽  
Theoretical Limit ◽  
Control Scheme ◽  
Human Operators ◽  
Input Shaping Control

Oscillation of crane payloads makes it challenging to manipulate payloads quickly, accurately, and safely. The problem is compounded when the payload creates a double-pendulum effect. This paper evaluates an input-shaping control method for reducing double-pendulum oscillations. Human operator performance testing on a 10-ton industrial bridge crane is used to verify the effectiveness and robustness of the method. The tests required the operators to drive the crane numerous times over a period of eight days. Data from these experiments show that human operators perform manipulation tasks much faster and safer with the proposed control scheme. Furthermore, considerably less operator effort is required when input shaping is used to limit the oscillation. These experiments also show that significant learning occurred when operators did not have the aid of input shaping. However, the performance never approached that achieved with input shaping without any training. With input shaping enabled, only moderate learning occurred because operators were able to drive the crane near its theoretical limit during their first tests.

Combined Input Shaping and Feedback Control of a Double-Pendulum System Subject to External Disturbances

2015 ◽  
Author(s):  
Robert Mar ◽  
Anurag Goyal ◽  
Vinh Nguyen ◽  
Tianle Yang ◽  
William Singhose
Keyword(s):  
Feedback Control ◽  
Control Method ◽  
Open Loop ◽  
Input Shaping ◽  
Double Pendulum ◽  
External Disturbances ◽  
Pendulum System ◽  
Modeling Uncertainties ◽  
Point To Point ◽  
Input Shaping Control

A control system combining input shaping and feedback is applied to a double-pendulum bridge crane subjected to external disturbances. The external disturbances represent naturally occurring forces, such as gusting winds. The proposed control method achieves fast point-to-point response similar to open-loop input-shaping control. It also minimizes transient deflections and disturbance-induced residual swing using the feedback control. Effects of parameters such as the mass ratio of the double-pendulum, suspension length ratio, and the traveled distance were studied via numerical simulation and hardware experiments. The controller effectively suppresses the disturbances and is robust to modeling uncertainties and task variations.

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.

Dynamics and control of a 6-DOF space robot with flexible panels

2016 ◽  
Vol 231 (6) ◽  
pp. 1022-1034 ◽  
Author(s):  
Yu Zhang-Wei ◽  
Liu Xiao-Feng ◽  
Li Hai-Quan ◽  
Cai Guo-Ping
Keyword(s):  
Dynamic Model ◽  
Control Method ◽  
Torque Control ◽  
Space Robot ◽  
Velocity Variation ◽  
Variation Principle ◽  
Dynamics Modeling ◽  
Dynamics And Control ◽  
Flexible Panels ◽  
And Control

With the development of space exploration, researches on space robot will cause more attentions. However, most existing researches about dynamics and control of space robot concern planar problem, and the effect of flexible panel on dynamics of the system is not considered. In this article, dynamics modeling and active control of a 6-DOF space robot with flexible panels are investigated. Dynamic model of the system is established based on the Jourdain's velocity variation principle and the single direction recursive construction method. The computed torque control method is used to design point-to-point active controller of the space robot. The validity of the dynamic model is verified through the comparison with ADAMS software; the effects of panel flexibility on the system performance and the active controller design are studied in detail. Simulation results indicate that the proposed model is effective to describe the dynamics of space robot; panel flexibility has large influence on the dynamic behavior of space robot; the designed controller can effectively make the robot reach a specified position and the elastic vibration of the panels may be suppressed simultaneously.

Dynamics and Control of a Helicopter Carrying a Payload Using a Cable-Suspended Robot

2005 ◽  
Author(s):  
So-Ryeok Oh ◽  
Ji-Chul Ryu ◽  
Sunil K. Agrawal
Keyword(s):  
Control Method ◽  
Dual System ◽  
Robust Controller ◽  
Robot System ◽  
Control Approach ◽  
Cable Robot ◽  
Dynamics And Control ◽  
Position And Orientation ◽  
And Control ◽  
Scale Control

This paper presents a study of the dynamics and control of a helicopter carrying a payload through a cable-suspended robot. The helicopter can perform gross motion, while the cable suspended robot underneath the helicopter can modulate a platform in position and orientation. Due to the under-actuated nature of the helicopter, the operation of this dual system consisting of the helicopter and the cable robot is challenging. We propose here a two time scale control method, which makes it possible to control the helicopter and the cable robot independently. In addition, this method provides an effective estimation on the bound of the motion of the helicopter. Therefore, even in the case where the helicopter motion is unknown, the cable robot can be stabilized by implementing a robust controller. Simulation results of the dual system show that the proposed control approach is effective for such a helicopter-robot system.

Theoretical and Experimental Investigation of Elevator Cable Dynamics and Control

2005 ◽  
Vol 128 (1) ◽  
pp. 66-78 ◽  
Author(s):  
W. D. Zhu ◽  
Y. Chen
Keyword(s):  
Control Method ◽  
Upward Movement ◽  
High Rise ◽  
Cable Dynamics ◽  
Theoretical Predictions ◽  
Dynamics And Control ◽  
And Control ◽  
Elevator Cable ◽  
Parameter Estimation Techniques ◽  
Good Agreement

The vibratory energy of a moving cable in an elevator increases in general during upward movement. A control method is presented to dissipate the energy associated with the lateral vibration of the cable. A novel experimental method is developed to validate the theoretical predictions for the uncontrolled and controlled lateral responses of a moving cable in a high-rise elevator. This includes the design and fabrication of a scaled elevator, experimental setup, and development of measurement and parameter estimation techniques. Experimental results show good agreement with the theoretical predictions.

On Nonlinear Dynamics and Control of an Inverted Flexible Pendulum System With Chaos

2019 ◽  
Author(s):  
Hartiny Kahar ◽  
Dirk Söffker
Keyword(s):  
Control Method ◽  
Impulsive Control ◽  
Chaotic Behavior ◽  
Energy Content ◽  
Dynamical Behavior ◽  
Pendulum System ◽  
Time Frequency ◽  
Dynamics And Control ◽  
Specific Frequency ◽  
And Control

Abstract In this paper, the dynamical behavior of a nonlinear mechanical system is considered, namely an inverted flexible pendulum excited in its base by a cart driven by a motor. In this experimental procedure, the chaotic motion of the pendulum tip was identified, in combination with a specific range of parameters. Time-frequency energy analysis is performed to be used for modeling the transition between the equilibria of the chaotic systems. Controlling the chaotic behavior of the system is realized using impulsive control method, where additive impulses are injected into the system, designed with specific impulses energy content at a specific frequency band. The experimental results are presented and discussed in detail, concentrating on how the designed impulses have to be injected to affect the system, specifically the transition between states of equilibria. The results from this experimental modeling procedure show that both additive impulse design and frequency filtering of the injected additive impulses are able to stimulate the equilibrium shift and therefore to control the chaotic behavior of the system.

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