Modeling and advanced sliding mode controls of crawler cranes considering wire rope elasticity and complicated operations

Abstract In this study, a new mathematical model of crawler cranes is developed for heavy working conditions, with payload-lifting and boom-hoisting motions simultaneously activated. The system model is built with full consideration of wind disturbances, geometrical nonlinearities, and cable elasticities of cargo lifting and boom luffing. On the basis of this dynamic model, three versions of sliding mode control are analyzed and designed to control five system outputs with only two inputs. When used in complicated operations, the effectiveness of the controllers is analyzed using analytical investigation and numerical simulation. Results indicate the effectiveness of the control algorithms and the proposed dynamic model. The control algorithms asymptotically stabilize the system with finite-time convergences, remaining robust amid disturbances and parametric uncertainties.

[1]  M. O. Tokhi,et al.  An optimal performance control scheme for a 3D crane , 2016 .

[2]  Cheng-Yuan Chang,et al.  Adaptive Fuzzy Controller of the Overhead Cranes With Nonlinear Disturbance , 2007, IEEE Transactions on Industrial Informatics.

[3]  Jaroslaw Smoczek,et al.  Fuzzy crane control with sensorless payload deflection feedback for vibration reduction , 2014 .

[4]  Yvan J. Beliveau,et al.  Dynamic Damping of Payload Motion for Cranes , 1993 .

[5]  B. Jerman,et al.  An investigation of slewing-crane dynamics during slewing motion—development and verification of a mathematical model , 2004 .

[6]  William Singhose,et al.  Command Shaping Slewing Motions for Tower Cranes , 2010 .

[7]  Eric Rogers,et al.  Iterative learning control applied to a gantry robot and conveyor system , 2010 .

[8]  Jie Liu,et al.  Complete dynamic calculation of lattice mobile crane during hoisting motion , 2005 .

[9]  Xuebo Zhang,et al.  A Motion Planning-Based Adaptive Control Method for an Underactuated Crane System , 2012, IEEE Transactions on Control Systems Technology.

[10]  A. H. Nayfeh,et al.  Pendulation Reduction in Boom Cranes Using Cable Length Manipulation , 2002 .

[11]  Arkadiusz Trąbka,et al.  Influence of flexibilities of cranes structural components on load trajectory , 2016 .

[12]  Naif B. Almutairi,et al.  Sliding Mode Control of a Three-dimensional Overhead Crane , 2009 .

[13]  Tatsuo Arai,et al.  Level luffing control system for crawler cranes , 2004 .

[14]  Le Anh Tuan,et al.  Combined control with sliding mode and partial feedback linearization for 3D overhead cranes , 2014 .

[15]  Zan Liang,et al.  Dynamics and swing control of double-pendulum bridge cranes with distributed-mass beams , 2015 .

[16]  Youngjin Park,et al.  Tracking control in x-y plane of an offshore container crane , 2017 .

[17]  Viet-Hung Dang,et al.  Partial feedback linearization control of a three-dimensional overhead crane , 2013 .

[18]  Chengliang Liu,et al.  Study and Implementation of a Cooperative Hoisting for Two Crawler Cranes , 2016, J. Intell. Robotic Syst..

[19]  Le Anh Tuan,et al.  Nonlinear feedback control of container crane mounted on elastic foundation with the flexibility of suspended cable , 2016 .

[20]  Stanisław Wojciech,et al.  Dynamics of a Mobile Crane and Optimisation of the Slewing Motion of Its Upper Structure , 2003 .

[21]  S. T. Venkataraman,et al.  Control of Nonlinear Systems Using Terminal Sliding Modes , 1993 .

[22]  Ziyad N. Masoud,et al.  Nonlinear Input-Shaping Controller for Quay-Side Container Cranes , 2006 .

[23]  T. Tsuji,et al.  Terminal sliding mode control of second‐order nonlinear uncertain systems , 1999 .

[24]  Muharrem Erdem Boğoçlu,et al.  Modeling the Dynamics and Kinematics of a Telescopic Rotary Crane by the Bond Graph Method: Part I , 2003 .

[25]  Oliver Sawodny,et al.  Tracking and anti-sway control for boom cranes , 2010 .

[26]  Ali H. Nayfeh,et al.  Gantry cranes gain scheduling feedback control with friction compensation , 2005 .

[27]  Ho-Hoon Lee.  A new approach for the anti-swing control of overhead cranes with high-speed load hoisting , 2003 .

[28]  Jie Huang,et al.  Control of bridge cranes with distributed-mass payloads under windy conditions , 2016 .

[29]  Jacek Kłosiński,et al.  Swing-free stop control of the slewing motion of a mobile crane , 2005 .

[30]  Menghua Zhang,et al.  Adaptive tracking control for double-pendulum overhead cranes subject to tracking error limitation, parametric uncertainties and external disturbances , 2016 .

[31]  Xiongxiong He,et al.  Nonlinear Energy-Based Regulation Control of Three-Dimensional Overhead Cranes , 2017, IEEE Transactions on Automation Science and Engineering.

[32]  Cheng-Yuan Chang,et al.  Parallel neural network combined with sliding mode control in overhead crane control system , 2014 .

[33]  Kamal A. F. Moustafa,et al.  Control of interval parameter overhead cranes via Monte Carlo simulation , 2011 .

[34]  Auwalu M. Abdullahi,et al.  Control strategies for crane systems: A comprehensive review , 2017 .

[35]  Warren E. Dixon,et al.  Nonlinear coupling control laws for an underactuated overhead crane system , 2003 .

[36]  Menghua Zhang,et al.  Error tracking control for underactuated overhead cranes against arbitrary initial payload swing angles , 2017 .

[37]  Cheng-Yuan Chang,et al.  Modified Fuzzy Variable Structure Control Method to the Crane System with Control Deadzone Problem , 2008 .

[38]  Kuang Shine Yang,et al.  Adaptive coupling control for overhead crane systems , 2007 .

[39]  Hamed Moradi,et al.  State estimation, positioning and anti-swing robust control of traveling crane-lifter system , 2015 .

[40]  Hemanshu R. Pota,et al.  Adaptive output-based command shaping for sway control of a 3D overhead crane with payload hoisting and wind disturbance , 2018 .

[41]  Zhihong Man,et al.  Non-singular terminal sliding mode control of rigid manipulators , 2002, Autom..

[42]  Hazriq Izzuan Jaafar,et al.  An improved input shaping design for an efficient sway control of a nonlinear 3D overhead crane with friction , 2017 .