Control strategies for crane systems: A comprehensive review

In practice, underactuated systems are widely used, and their control problems have attracted much attention in recent years. For safety concerns or transient performance requirements, some state constraints should be guaranteed both theoretically and practically, particularly those exerted on unactuated states. To the best of our knowledge, there are few closed-loop control methods that can treat unactuated state constraints with theoretical guarantees (i.e., that can theoretically guarantee unactuated state variables to be always within the preset ranges). For this purpose, in this article, we propose a new control strategy for a class of underactuated systems that can treat the various constraints including actuated and unactuated state constraints and the constraints on some specific composite variables . Specifically, we elaborately design some new auxiliary terms that are composed of constrained variable signals and actuated velocity signals. These terms can enhance the couplings between unactuated and actuated states that are further utilized to tackle the unactuated state and composite variable constraints. Then, the performance of the designed method is proven by rigorous analysis. Finally, the proposed method is applied to a double pendulum crane system and a tower crane system to verify its superior performance by experiments.

Nonlinear Control of Underactuated Systems Subject to Both Actuated and Unactuated State Constraints With Experimental Verification

Spacecraft, space-borne robotic systems, and manufacturing equipment often utilize lightweight materials and configurations that give rise to vibration problems. Prior research has led to the development of input command pre-shapers that can significantly reduce residual vibration. These shapers exhibit marked insensitivity to errors in natural frequency estimates and can be combined to minimize vibration at more than one frequency. This paper presents a method for the development of multiple mode input shapers which are simpler to implement than previous designs and produce smaller system response delays. The new technique involves the solution of a group of simultaneous non-linear impulse constraint equations. The resulting shapers were tested on a model of MACE, an MIT/NASA experimental flexible structure.

/pdf/using-input-command-pre-shaping-to-suppress-multiple-mode-1eoygacvmr.pdf

Using input command pre-shaping to suppress multiple mode vibration

An adaptive sliding mode control scheme for container cranes is investigated in this study. A sliding surface is designed in such a way that the sway motion of the payload is incorporated into the trolley dynamics. Included in the proposed control law is a varying control gain, obtained by an adaptation law, which transitions the system into the sliding mode. The control law guarantees the asymptotic stability of the closed-loop system. To demonstrate the efficiency of the proposed algorithm, experimental results are provided.

Adaptive sliding mode control of container cranes

For practical underactuated cranes, vertical load motion is always involved, which, owing to the internal nonlinear coupling, may trigger larger amplitude load oscillations, making the control problem much more cumbersome and challenging than the constant-rope-length case. Moreover, cranes always suffer from unknown or uncertain plant parameters such as load mass and friction parameters besides the underactuated nature, which makes accurate gravity compensation in the case of load vertical hoisting/lowering impossible and induces vertical positioning errors. To address these problems, a new adaptive coupling control approach is presented for underactuated cranes with load hoisting/lowering subject to unknown plant parameters, which achieves fast precise trolley positioning and load hoisting/lowering as well as rapid load swing elimination. We construct a new adaptive mechanism to deal with the system uncertainties, which can accurately identify the unknown load weight. As far as we know, the presented strategy yields the first closed-loop control solution, with guaranteed theoretical analysis , to successfully address the crane antiswing and positioning problem in the presence of load hoisting/lowering and uncertain parameters , with simultaneous load weight identification as an additional benefit. The performance of the designed control system is theoretically ensured by Lyapunov-like analysis and (extended) Barbalat's lemmas. Experimental and simulation results suggest the effectiveness and superior performance of the proposed method for crane control by comparing it with existing methods.

Adaptive Nonlinear Crane Control With Load Hoisting/Lowering and Unknown Parameters: Design and Experiments

http://singhose.marc.gatech.edu/courses/ME6404/Past%20Projects/CEP_Tower_Shaping.pdf

Radial-motion assisted command shapers for nonlinear tower crane rotational slewing

Motion-induced vibration can be greatly reduced by properly shaping the reference command. Input shaping is one type of reference shaping method that is based largely on linear superposition. In this paper we document the impact of nonlinear crane dynamics on the effectiveness of input shaping. As typical bridge cranes are driven using Cartesian motions, they behave nearly linearly for low- and moderate-velocity motions. On the other hand, the natural rotational motions of tower cranes make them more nonlinear. The nonlinear equations of motion for both bridge and tower cranes are presented and experimentally verified using two portable cranes. The effectiveness of input sh aping on the near-linear bridge crane is explained. Then, a command-shaping algorithm is developed to improve vibration reduction during the more nonlinear slewing motions of the tower crane. Experimental results demonstrate the effectiveness of the proposed approach over a wide range of operating conditions.

/pdf/command-shaping-for-nonlinear-crane-dynamics-2q6k8eurpr.pdf

Command Shaping for Nonlinear Crane Dynamics

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Radial-motion assisted command shapers for nonlinear tower crane rotational slewing

Command Shaping for Nonlinear Crane Dynamics