scholarly journals Research on Nonlinear Control Method of Underactuated Gantry Crane Based on Machine Vision Positioning

Symmetry ◽  
2019 ◽  
Vol 11 (8) ◽  
pp. 987 ◽  
Author(s):  
Shi ◽  
Li ◽  
Bai ◽  
Huang
Keyword(s):  
Machine Vision ◽  
Control Method ◽  
Equilibrium Points ◽  
Gantry Crane ◽  
Experimental Investigations ◽  
Underactuated System ◽  
Precise Positioning ◽  
Precise Control ◽  
Vision Positioning ◽  
Load Swing

The movement of the gantry crane is controlled by an symmetry underactuated system, and has poor robustness in precise positioning. A new active control method based on the machine vision positioning is proposed in this paper, and the trajectories are planned after the detection of starting and ending points. A new type of energy storage function is given in this paper, and a coupling control law is derived to minimize the load swing in the process of precise positioning. The equilibrium point of the closed-loop system is checked though Lyapunov and LaSalle’s theorems, and the calculation results are verified through experimental investigations. The results show that the equilibrium points are asymptotically stable, and the proposed control method is of better robustness. The findings provide a new kind of control method with higher efficiency, and can help with the precise control of gantry cranes.

scholarly journals Precise Positioning of the Tray Grabbing System Based on Machine Vision

2018 ◽  
Vol 1087 ◽  
pp. 062034
Author(s):  
Ning Dong ◽  
Jun Du ◽  
Jiaying Wu ◽  
Hailong Chen
Keyword(s):  
Machine Vision ◽  
Precise Positioning

scholarly journals Bifurcation and Chaos of a Discrete Predator-Prey Model with Crowley–Martin Functional Response Incorporating Proportional Prey Refuge

2020 ◽  
Vol 2020 ◽  
pp. 1-18 ◽  
Author(s):  
P. K. Santra ◽  
G. S. Mahapatra ◽  
G. R. Phaijoo
Keyword(s):  
Functional Response ◽  
Control Method ◽  
Equilibrium Points ◽  
Period Doubling ◽  
Phase Portraits ◽  
Prey Refuge ◽  
Predator Prey ◽  
Predator Prey Model ◽  
Feedback Control Method ◽  
And Control

The paper investigates the dynamical behaviors of a two-species discrete predator-prey system with Crowley–Martin functional response incorporating prey refuge proportional to prey density. The existence of equilibrium points, stability of three fixed points, period-doubling bifurcation, Neimark–Sacker bifurcation, Marottos chaos, and Control Chaos are analyzed for the discrete-time domain. The time graphs, phase portraits, and bifurcation diagrams are obtained for different parameters of the model. Numerical simulations and graphics show that the discrete model exhibits rich dynamics, which also present that the system is a chaotic and complex one. This paper attempts to present a feedback control method which can stabilize chaotic orbits at an unstable equilibrium point.

scholarly journals Autonomous Jerk Oscillator with Cosine Hyperbolic Nonlinearity: Analysis, FPGA Implementation, and Synchronization

2018 ◽  
Vol 2018 ◽  
pp. 1-12 ◽  
Author(s):  
Karthikeyan Rajagopal ◽  
Sifeu Takougang Kingni ◽  
Gaetan Fautso Kuiate ◽  
Victor Kamdoum Tamba ◽  
Viet-Thanh Pham
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Equilibrium Points ◽  
Period Doubling ◽  
Fpga Implementation ◽  
Phase Portraits ◽  
Adaptive Sliding Mode Control ◽  
Coexistence Of Attractors ◽  
Route To Chaos ◽  
Two Parameters

A two-parameter autonomous jerk oscillator with a cosine hyperbolic nonlinearity is proposed in this paper. Firstly, the stability of equilibrium points of proposed autonomous jerk oscillator is investigated by analyzing the characteristic equation and the existence of Hopf bifurcation is verified using one of the two parameters as a bifurcation parameter. By tuning its two parameters, various dynamical behaviors are found in the proposed autonomous jerk oscillator including periodic attractor, one-scroll chaotic attractor, and coexistence between chaotic and periodic attractors. The proposed autonomous jerk oscillator has period-doubling route to chaos with the variation of one of its parameters and reverse period-doubling route to chaos with the variation of its other parameter. The proposed autonomous jerk oscillator is modelled on Field Programmable Gate Array (FPGA) and the FPGA chip statistics and phase portraits are derived. The chaotic and coexistence of attractors generated in the proposed autonomous jerk oscillator are confirmed by FPGA implementation of the proposed autonomous jerk oscillator. A good qualitative agreement is illustrated between the numerical and FPGA results. Finally synchronization of unidirectional coupled identical proposed autonomous jerk oscillators is achieved using adaptive sliding mode control method.

Performance Enhancement of Pneumatic Vibration Isolators Using Self-Tuning PID Feedback and Time-Delay-Control (TDC)-Based Feedforward Scheme

2018 ◽  
Author(s):  
Jin-Wei Liang ◽  
Hung-Yi Chen ◽  
Lyu-Cyuan Zeng
Keyword(s):  
Mathematical Model ◽  
Performance Enhancement ◽  
Control Method ◽  
Hybrid Control ◽  
Model Performance ◽  
Experimental Investigations ◽  
Isolation System ◽  
Control Scheme ◽  
Self Tuning ◽  
Hybrid Control Scheme

A hybrid control scheme that combines a self-tuning PID-feedback loop and TDC-based feedforward scheme is proposed in this study to cope with an active pneumatic vibration isolator. In order to establish an effective TDC feedforward control a reliable mathematical model of the pneumatic isolator is required and developed firstly. Numerical and experimental investigations on the validity of the mathematical model are performed. It is found that although slight discrepancy exists between predicted and observed behaviors of the system, the overall model performance is acceptable. The resultant model is then applied in the design of the TDC feedforward scheme. A neuro-based adaptive PID control is integrated with the TDC feedforward algorithm to form the hybrid control. Numerical and experimental isolation tests are carried out to examine the suppression performances of the proposed hybrid control scheme. The results show that the proposed hybrid control method outperforms solely TDC feedforward while the latter outperforms the passive isolation system. Moreover, the proposed hybrid control scheme can suppress the vibration near the system’s resonance.

scholarly journals Dynamic Responses of an Overhead Crane’s Beam Subjected to a Moving Trolley with a Pendulum Payload

2019 ◽  
Vol 2019 ◽  
pp. 1-14 ◽  
Author(s):  
Huasen Liu ◽  
Wenming Cheng ◽  
Yinqi Li
Keyword(s):  
Integral Method ◽  
Lagrange Equation ◽  
Dynamic Responses ◽  
Underactuated System ◽  
Beam Model ◽  
Moving Mass ◽  
Overhead Crane ◽  
Precise Positioning ◽  
Pendulum Swing ◽  
Coupling System

An overhead crane with a flexible cable is an underactuated system; the vibration of the crane’s beam and the residual swinging of the payloads cause fatigue in the crane and affect the precise positioning of the payloads. In this paper, the coupling system of an overhead crane was simplified to that of a moving mass with pendulum swing passing beam model. The differential equation motion of a coupled overhead crane system was derived based on the Lagrange equation. Mathematical solution was carried out by using the Newmark-β integral method. The influences of the trolley’s acceleration and the parameters of the payloads on the vibration of the beam and the payloads’ swing were, respectively, analyzed. A numerical analysis of the results indicates that increasing the mass of the payloads leads to a larger deflection of the beam, whereas increasing the speed and acceleration of the trolley does not obviously influence the maximum deflection of the central beam.

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.  

Experimental Analysis of Heavy Vehicle Hydraulic Retarder during Downhill Driving

2019 ◽  
Vol 11 (4) ◽  
Author(s):  
Zhang Yong
Keyword(s):  
Traditional Method ◽  
Control Method ◽  
Heavy Vehicle ◽  
Control Effect ◽  
Poor Control ◽  
Braking Performance ◽  
Precise Control ◽  
Low Energy Consumption ◽  
Closed Structure ◽  
Hydraulic Retarder

The traditional control method of hydraulic retarder has poor control effect, and a precise control method of hydraulic retarder for heavy vehicle running downhill is proposed in this paper. The dynamics of heavy vehicle is analysed. According to the analysis, the auxiliary braking performance of hydraulic retarder is studied. The hydraulic retarder assembly with closed structure is designed. On this basis, the preliminary control and secondary control of the hydraulic retarder are carried out to realize its precise control. Experimental results show that the dynamic deviation of the retarder speed controlled by the proposed method is 45% lower than that of the traditional method. The proposed method has low energy consumption and strong feasibility.

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