A single and double closed-loop compound anti-sway control method for double-pendulum bridge cranes locating at random position

In the assembly workshops of some heavy special equipment, the bridge cranes for payload lifting often needs to be located frequently. However, the locating position is often determined by the operator, which is random and results in significant payload oscillation and difficulties in trolley positioning. Furthermore, in practice, the bridge crane always exhibits more complicated double-pendulum dynamics compared with single-pendulum crane. To solve these problems, this paper establishes the double-pendulum model of bridge crane. Derived from the proportional-derivative (PD) control, the single closed-loop is designed based on the hook oscillation during acceleration and transporting; when locating, the double closed-loop is presented by utilizing the position and the hook oscillation. Combining the two control methods, a single and double closed-loop compound anti-sway control (SDCAC) method for the bridge crane is proposed. On this basis, to improve the performance of the SDCAC system, the sequential quadratic optimization (SQP) method is adopted to optimize PD parameters. Besides, a novel bumpless transfer control method is proposed to realize the smooth transition between the two control modes. Finally, the simulations and experiments are conducted. The results demonstrate the effectiveness of the proposed method.

Bumpless Transfer of Uncertain Switched System and Its Application to Turbofan Engines

Nonlinear control problems in turbofan engines are challenging. No single nonlinear controller can achieve desired control effects in a full flight envelope, but in the case of multiple controllers, there exist problems in the bumpless transfer between different controllers. To this end, this paper presents a bumpless transfer mechanism for an uncertain switched system based on integral sliding mode control (ISMC), and the mechanism can be used for the speed control of turbofan engines. The uncertain switched system is used to describe the turbofan engine dynamics. Then, the ISMC controller is derived for subsystems of the uncertain switched system. A resetting scheme is introduced for the ISMC controller to ensure the continuity of control inputs during the controller transition, as well as the bumpless transfer. In view of the transient behavior caused by controller switching, the global stability of the switched system is analyzed using the multiple Lyapunov function approach and average dwell time condition. Simulation results validate that the designed resetting scheme can ensure the continuity of control input signals and avoid the instability caused by high-frequency controller switching, and increase the control effectiveness of the proposed ISMC method within the full flight envelope.