Network-Based Overhead Crane Control System Using Matrix Converters

A flexible-cable overhead crane system having large swing is studied as a multi-degree underactuated system. To resolve the system dynamics complexities, a second order singular perturbation (SP) formulation is developed to divide the crane dynamics into two one-degree underactuated fast and slow subsystems. Then, a control system is designed based on the two-time scale control (TTSC) method to: (a) transfer the payload to a desired location and decrease the payload swing, by a nonlinear controller for slow dynamics; and (b) suppress transverse vibrations of the cable, by a linear controller for fast dynamics. The nonlinear controller is designed based on an energy shaping technique according to the controlled Lagrangian method. To demonstrate the control system effectiveness, an example of the flexible cable crane systems with a lightweight payload is considered to perform simulations. In addition to the proposed control system, two other controllers; namely, a linear controller based on the linear–quadratic regulator method and a TTSC based on the approximate SP model and partial feedback linearization, are applied to the system for comparison. Also, by applying a disturbance force to the trolley and considering 10% uncertainty in crane parameters, the control performance against disturbances and parameter uncertainties is investigated.

Download Full-text

Application of self-tuning fuzzy proportional–integral–derivative control in hydraulic crane control system

Advances in Mechanical Engineering ◽

10.1177/1687814016655258 ◽

2016 ◽

Vol 8 (6) ◽

pp. 168781401665525 ◽

Cited By ~ 4

Author(s):

Wenrui Hao ◽

Jiangming Kan

Keyword(s):

Control System ◽

Proportional Integral Derivative ◽

Crane Control ◽

Proportional Integral ◽

Self Tuning ◽

Hydraulic Crane ◽

Proportional Integral Derivative Control ◽

Derivative Control

Download Full-text

Interval arithmetic-based fuzzy discrete-time crane control scheme design

Bulletin of the Polish Academy of Sciences Technical Sciences ◽

10.2478/bpasts-2013-0093 ◽

2013 ◽

Vol 61 (4) ◽

pp. 863-870 ◽

Cited By ~ 5

Author(s):

J. Smoczek

Keyword(s):

Control System ◽

Discrete Time ◽

Interval Arithmetic ◽

Material Handling ◽

Closed Loop ◽

Container Terminals ◽

Crane Control ◽

Loop Control ◽

Fuzzy Interpolation ◽

Polynomial Coefficients

Abstract In many manufacturing segments, container terminals and shipping yards the automation of material handling systems is an important element of enhancing productivity, safety and efficiency. The fast, precise and safe transfer of goods in crane operations requires a control application solving the problems, including non-collision trajectory planning and limitation of payload oscillations. The paper presents the interval arithmetic-based method of designing a discrete-time closed-loop anti-sway crane control system based on the fuzzy interpolation of linear controller parameters. The interval analysis of a closed-loop control system characteristic polynomial coefficients deviation from their nominal values is proposed to define a minimum number of fuzzy sets on the scheduling variables universe of discourse and to determine the distribution of triangular-shaped membership functions parameters, which satisfy the acceptable range of performances deterioration in the presence of the system’s parameters variation. The effectiveness of this method was proved in experiments conducted using the PAC system on the laboratory scaled overhead crane.

Download Full-text

The Application of a Neuro-Fuzzy Adaptive Crane Control System

Journal of Konbin ◽

10.2478/v10040-008-0182-8 ◽

2010 ◽

Vol 14-15 (1) ◽

pp. 247-258

Author(s):

Jarosław Smoczek ◽

Janusz Szpytko

Keyword(s):

Control System ◽

Material Handling ◽

Fuzzy Controller ◽

Laboratory Model ◽

Crane Control ◽

Neuro Fuzzy ◽

To Come ◽

Fuzzy Control Algorithm ◽

Fuzzy Adaptive

The Application of a Neuro-Fuzzy Adaptive Crane Control SystemThe unconventional methods, mostly based on fuzzy logic, are often addressed to a problem of anti-sway crane control. The problem of practical application of those solutions is important owing to come the growing expectations for time and precision of transportation operations and exploitation quality of material handling devices. The paper presents the designing methods of an adaptive anti-sway crane control system based on the neuro-fuzzy controller, as well as the software and hardware equipments used to aid the programming realization the fuzzy control algorithm on a programmable logic controller (PLC). The proposed application of control system was tested on the laboratory model of an overhead traveling crane.

Download Full-text