Control strategies for crane systems: A comprehensive review

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

An adaptive tracking control method with swing suppression for 4-DOF tower crane systems

Tower crane systems exhibit high nonlinearity and underactuation, making the control issue challenging. Most reported methods for tower crane systems utilize linearized models, and accurate plant parameters (e.g., cargo mass, jib moment inertia) and full state feedback are usually required; moreover, most existing works only consider a part of the crane motions, and the control issue of five degree-of-freedom (5-DOF) tower cranes (i.e., 2-DOF cargo swing, slew, hoisting, and translation) is still open. However, tower cranes are practically influenced by uncertainties and disturbances, which may make linearized models ineffective; additionally, exact values of plant parameters may be difficult to obtain, and velocity signals are usually not directly measurable in practice. To address the aforementioned problems, this article proposes an adaptive output feedback control method for 5-DOF varying-cable-length tower cranes. As far as we know, this article provides the first adaptive output feedback controller, designed and analyzed without linearizing the dynamic equations, which can simultaneously achieve cargo hoisting/lowering, jib slew, trolley translation, and swing suppression, by avoiding using velocity-related feedback signals. Resorting to an elaborately constructed virtual spring-mass system, the control objectives are satisfactorily achieved even without involving any velocity signals with theoretical/experimental guarantee. Moreover, by elaborately designing a new adaptive law, the exact values of unknown cargo masses can be estimated through online identification. We provide rigorous stability/convergence analysis for the closed-loop system. Hardware experiment results are included for effectiveness/robustness verification.

Adaptive Output Feedback Control for 5-DOF Varying-Cable-Length Tower Cranes With Cargo Mass Estimation

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

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

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