Active Vibration Control of Container Cranes against Earthquake by the Use of LMI Based Mixed State-Feedback Controller

This paper studies the design of a linear matrix inequality (LMI) based mixed state-feedback controller for vibration attenuation problem of seismic-excited container cranes. In order to show effectiveness of the designed controller, a six-degree-of-freedom container crane structural system is modeled using a spring-mass-damper subsystem. The system is then simulated against the real ground motion of El Centro and Northridge earthquakes. Finally, the time history of the crane parts displacements, accelerations, control forces, and frequency responses of both uncontrolled and controlled cases are presented. Additionally, the performance of the designed controller is also compared with a nominal state-feedback controller performance. Simulations of the designed controller show better seismic performance than a nominal state-feedback controller. Simulation results show that the designed controller is all effective in reducing vibration amplitudes of crane parts.

[1]  Huijun Gao,et al.  Active Suspension Control With Frequency Band Constraints and Actuator Input Delay , 2012, IEEE Transactions on Industrial Electronics.

[2]  P. Gahinet,et al.  A linear matrix inequality approach to H∞ control , 1994 .

[3]  H. Du,et al.  H∞ control for buildings with time delay in control via linear matrix inequalities and genetic algorithms , 2008 .

[4]  Michael Jordan,et al.  Seismic Response of Jumbo Container Cranes and Design Recommendations to Limit Damage and Prevent Collapse , 2007 .

[5]  Necati Özdemir,et al.  State-space solutions to standard H? control problem , 2002 .

[6]  Ahmet Sagirli,et al.  Mathematical modelling of the container cranes under seismic loading and proving by shake table , 2013 .

[7]  Huijun Gao,et al.  Saturated Adaptive Robust Control for Active Suspension Systems , 2013, IEEE Transactions on Industrial Electronics.

[8]  C. Oktay Azeloglu,et al.  Investigation of the Dynamic Behaviors of Cranes under Seismic Effects with Theoretical and Experimental Study , 2012 .

[9]  B. Francis,et al.  A Course in H Control Theory , 1987 .

[10]  Yifu Zhang,et al.  Robust Tracking Control for Vehicle Lateral Dynamics with Uncertain Parameters and External Nonlinearities , 2014 .

[11]  C. Oktay Azeloglu,et al.  Investigation of Seismic Behavior of Container Crane Structures by Shake Table Tests and Mathematical Modeling , 2014 .

[12]  P. Khargonekar,et al.  Mixed H/sub 2//H/sub infinity / control: a convex optimization approach , 1991 .

[13]  Masahiro Watanabe,et al.  Nonlinear Seismic Responses of Container Cranes Including the Contact Problem Between Wheels and Rails , 2004 .

[14]  E. Yaz.  Linear Matrix Inequalities In System And Control Theory , 1998, Proceedings of the IEEE.

[15]  Anil K. Agrawal,et al.  Effect of fixed time delay on stability and performance of actively controlled civil engineering structures , 1997 .

[16]  Gang Song,et al.  Robust H∞ control for aseismic structures with uncertainties in model parameters , 2007 .

[17]  Carsten W. Scherer,et al.  Multi-Objective Output-Feedback Control via LMI Optimization , 1996 .

[18]  Sheng-Guo Wang,et al.  Robust Control for Structural Systems with Parametric and Unstructured Uncertainties , 2001 .

[19]  P. Khargonekar,et al.  State-space solutions to standard H/sub 2/ and H/sub infinity / control problems , 1989 .

[20]  Johan Löfberg,et al.  YALMIP : a toolbox for modeling and optimization in MATLAB , 2004 .

[21]  Huijun Gao,et al.  Robust control synthesis for seat suspension systems with actuator saturation and time-varying input delay , 2010 .

[22]  Rahmi Guclu,et al.  Self-tuning fuzzy logic control of crane structures against earthquake induced vibration , 2011 .

[23]  J. N. Yang,et al.  Actuator saturation and control design for buildings under seismic excitation , 2000, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[24]  Huijun Gao,et al.  Input-Delayed Control of Uncertain Seat Suspension Systems With Human-Body Model , 2010, IEEE Transactions on Control Systems Technology.