An Iterative Learning Control Technique for Point-to-Point Maneuvers Applied on an Overhead Crane

An iterative learning control (ILC) strategy is proposed, and implemented on simple pendulum and double pendulum models of an overhead crane undergoing simultaneous traveling and hoisting maneuvers. The approach is based on generating shaped commands using the full nonlinear equations of motion combined with the iterative learning control, to use as acceleration commands to the jib of the crane. These acceleration commands are tuned to eliminate residual oscillations in rest-to-rest maneuvers. The performance of the proposed strategy is tested using an experimental scaled model of an overhead crane with hoisting. The shaped command is derived analytically and validated experimentally. Results obtained showed that the proposed ILC control strategy is capable of eliminating travel and residual oscillations in simple and double pendulum models with hoisting. It is also shown, in all cases, that the proposed approach has a low sensitivity to the initial cable lengths.

[1]  William Singhose,et al.  Reduction of Double-Pendulum Bridge Crane Oscillations , 2006 .

[2]  M. Phan,et al.  Discrete frequency based learning control for precision motion control , 1994, Proceedings of IEEE International Conference on Systems, Man and Cybernetics.

[3]  Ali H. Nayfeh,et al.  Sway Reduction on Quay-side Container Cranes Using Delayed Feedback Controller: Simulations and Experiments , 2005 .

[4]  Ziyad N. Masoud,et al.  A Graphical Approach to Input-Shaping Control Design for Container Cranes With Hoist , 2006, IEEE Transactions on Control Systems Technology.

[5]  Andrew G. Alleyne,et al.  Nonlinear control of an electrohydraulic injection molding machine via iterative adaptive learning , 1999 .

[6]  Kevin L. Moore,et al.  A Practical Iterative Learning Path‐Following Control Of An Omni‐Directional Vehicle , 2008 .

[7]  Francis J. Doyle,et al.  Survey on iterative learning control, repetitive control, and run-to-run control , 2009 .

[8]  S. Saab.  A stochastic iterative learning control algorithm with application to an induction motor , 2004 .

[9]  Madhukar Pandit,et al.  Optimizing iterative learning control of cyclic production processes with application to extruders , 1999, IEEE Trans. Control. Syst. Technol..

[10]  Rush D. Robinett,et al.  Experimental verification of a command shaping boom crane control system , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).

[11]  William Singhose,et al.  Command shaping for flexible systems: A review of the first 50 years , 2009 .

[12]  Khaled A. Alhazza.  Experimental Validation on a Continuous Modulated Wave-Form Command Shaping Applied on Damped Systems , 2013 .

[13]  Gregory P. Starr,et al.  Swing-Free Transport of Suspended Objects With a Path-Controlled Robot Manipulator , 1985 .

[14]  Ziyad N. Masoud,et al.  A Continuous Modulated Wave-Form Command Shaping for Damped Overhead Cranes , 2011 .

[15]  Cheng Shao,et al.  Robust iterative learning control with applications to injection molding process , 2001 .

[16]  Mikael Norrlöf,et al.  An adaptive iterative learning control algorithm with experiments on an industrial robot , 2002, IEEE Trans. Robotics Autom..

[17]  Ali H. Nayfeh,et al.  Gantry Cranes Gain Scheduling Feedback Control with Friction Compensation , 2003 .

[18]  Rush D. Robinett,et al.  Command shaping boom crane control system with nonlinear inputs , 1999, Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328).

[19]  Ziyad N. Masoud,et al.  A Hybrid Command-Shaping Control System for Highly Accelerated Double-Pendulum Gantry Cranes , 2009 .

[20]  Anna G. Stefanopoulou,et al.  Iterative learning control for soft landing of electromechanical valve actuator in camless engines , 2003, IEEE Trans. Control. Syst. Technol..

[21]  Anna Helena Reali Costa,et al.  Optimal control of ship unloaders using reinforcement learning , 2002, Adv. Eng. Informatics.

[22]  David R. Strip.  Swing-free transport of suspended objects: a general treatment , 1989, IEEE Trans. Robotics Autom..

[23]  William Singhose,et al.  A controller enabling precise positioning and sway reduction in bridge and gantry cranes , 2007 .

[24]  Okko H. Bosgra,et al.  Synthesis of robust multivariable iterative learning controllers with application to a wafer stage motion system , 2000 .

[25]  Ziyad N. Masoud,et al.  Command-Shaping Control System for Double-Pendulum Gantry Cranes , 2011 .

[26]  Suguru Arimoto,et al.  Bettering operation of Robots by learning , 1984, J. Field Robotics.

[27]  Ali H. Nayfeh,et al.  Cargo Pendulation Reduction of Ship-Mounted Cranes , 2004 .

[28]  M. Kenison,et al.  Input shaper design for double-pendulum planar gantry cranes , 1999, Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328).

[29]  Paul Lewin,et al.  Practical implementation of a real-time iterative learning position controller , 2000 .

[30]  Ziyad N. Masoud,et al.  A Novel Wave-Form Command-Shaping Control With Application on Overhead Cranes , 2010 .

[31]  William Singhose,et al.  Comparison of robust input shapers , 2008 .

[32]  M. W. Noakes,et al.  Experimental implementation of a robust damped-oscillation control algorithm on a full-sized, two-degree-of-freedom, AC induction motor-driven crane , 1994 .

[33]  Roberto Horowitz,et al.  A new adaptive learning rule , 1991 .

[34]  Andrew G. Alleyne,et al.  A manufacturing system for microscale robotic deposition , 2003, Proceedings of the 2003 American Control Conference, 2003..

[35]  Dong-Il Kim,et al.  An iterative learning control method with application for CNC machine tools , 1993, Conference Record of the 1993 IEEE Industry Applications Conference Twenty-Eighth IAS Annual Meeting.

[36]  Hanspeter Schaub,et al.  Rate-based ship-mounted crane payload pendulation control system , 2008 .

[37]  Ho-Hoon Lee,et al.  A fuzzy-logic antiswing controller for three-dimensional overhead cranes. , 2002, ISA transactions.

[38]  Ali H. Nayfeh,et al.  Dynamics and Control of Cranes: A Review , 2003 .

[39]  S. S. Garimella,et al.  Application of iterative learning control to coil-to-coil control in rolling , 1995, Proceedings of 1995 American Control Conference - ACC'95.

[40]  Jianqiang Yi,et al.  Adaptive sliding mode fuzzy control for a two-dimensional overhead crane , 2005 .

[41]  Warren P. Seering,et al.  Input shaped control of a planar gantry crane with hoisting , 1997, Proceedings of the 1997 American Control Conference (Cat. No.97CH36041).

[42]  Ken'ichi Yano,et al.  Modeling and optimal control of a rotary crane using the straight transfer transformation method , 2007 .