Efficient control of a 3D overhead crane with simultaneous payload hoisting and wind disturbance: design, simulation and experiment

Abstract This paper proposes a new control scheme for a 3-dimensional (3D) overhead crane having simultaneous payload hoisting and persistent wind disturbance. Control of the 3D crane system under those effects is highly challenging as it results in a high unwanted payload sway and inaccurate payload positioning. The proposed control structure which combines a new adaptive command shaping technique designed based on output signals and an integral sliding mode (ISM) control provides a precise crane positioning and low payload sway. The two independent controllers are designed such that they can practically be combined and implemented without affecting the overall stability of the closed-loop system. To test the effectiveness of the proposed method, simulations and experiments on a laboratory overhead crane are carried out under various conditions with different payload masses, various cable lengths, payload hoisting and external wind disturbance. Under all operating conditions, by comparing with an ISM control, the combined controller gives smoother and more satisfactory transient responses with two to four-fold reductions in the overall payload sway. In addition, the controller provides substantial reductions in the overall chattering of the control signal and sliding manifold which resulted in smoother control signals and system responses.

[1]  Auwalu M. Abdullahi,et al.  Model reference command shaping for vibration control of multimode flexible systems with application to a double-pendulum overhead crane , 2019, Mechanical Systems and Signal Processing.

[2]  Roger Miranda-Colorado,et al.  A family of anti-swing motion controllers for 2D-cranes with load hoisting/lowering , 2019, Mechanical Systems and Signal Processing.

[3]  Le Anh Tuan,et al.  Adaptive neural network sliding mode control of shipboard container cranes considering actuator backlash , 2018, Mechanical Systems and Signal Processing.

[4]  William E. Singhose,et al.  Finite-State Input Shaping , 2010, IEEE Transactions on Control Systems Technology.

[5]  William Singhose,et al.  Effects of hoisting on the input shaping control of gantry cranes , 2000 .

[6]  P. Gahinet,et al.  H∞ design with pole placement constraints: an LMI approach , 1996, IEEE Trans. Autom. Control..

[7]  Xin Deng,et al.  Sliding-Mode-Based Trajectory Tracking and Load Sway Suppression Control for Double-Pendulum Overhead Cranes , 2019, IEEE Access.

[8]  M. O. Tokhi,et al.  Control of a gantry crane using input-shaping schemes with distributed delay , 2017 .

[9]  He Chen,et al.  Transportation Control of Double-Pendulum Cranes With a Nonlinear Quasi-PID Scheme: Design and Experiments , 2019, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[10]  Xiongxiong He,et al.  Partially saturated coupled-dissipation control for underactuated overhead cranes , 2020 .

[11]  Le Anh Tuan,et al.  Modeling and advanced sliding mode controls of crawler cranes considering wire rope elasticity and complicated operations , 2018 .

[12]  J. Cink,et al.  Dynamics of an overhead crane under a wind disturbance condition , 2014 .

[13]  Ziyad N. Masoud,et al.  A smooth multimode waveform command shaping control with selectable command length , 2017 .

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

[15]  Leonid M. Fridman,et al.  Analysis and design of integral sliding manifolds for systems with unmatched perturbations , 2006, IEEE Transactions on Automatic Control.

[16]  Menghua Zhang,et al.  Model-independent PD-SMC method with payload swing suppression for 3D overhead crane systems , 2019, Mechanical Systems and Signal Processing.

[17]  Xianqing Wu,et al.  Disturbance-observer-based nonlinear control for overhead cranes subject to uncertain disturbances , 2020 .

[18]  Yongchun Fang,et al.  Adaptive robust tracking control for an offshore ship-mounted crane subject to unmatched sea wave disturbances , 2019, Mechanical Systems and Signal Processing.

[19]  Ming-Chang Pai.  Closed-Loop Input Shaping Control of Vibration in Flexible Structures via Adaptive Sliding Mode Control , 2012 .

[20]  Stefan Palis,et al.  Robust control for active damping of elastic gantry crane vibrations , 2019, Mechanical Systems and Signal Processing.

[21]  Hazriq Izzuan Jaafar,et al.  Modelling and Fuzzy Logic Control of an Underactuated Tower Crane System , 2020 .

[22]  Mehmet Önder Efe,et al.  Efficient swing control of an overhead crane with simultaneous payload hoisting and external disturbances , 2020 .

[23]  Abdul Rashid Husain,et al.  Improved unity magnitude input shaping scheme for sway control of an underactuated 3D overhead crane with hoisting , 2019, Mechanical Systems and Signal Processing.

[24]  Menghua Zhang,et al.  Modeling and energy-based sway reduction control for tower crane systems with double-pendulum and spherical-pendulum effects , 2020 .

[25]  He Chen,et al.  An adaptive tracking control method with swing suppression for 4-DOF tower crane systems , 2019, Mechanical Systems and Signal Processing.

[26]  Marc Bodson.  An Adaptive Algorithm for the Tuning of Two Input Shaping Methods , 1998, Autom..

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

[28]  Jie Huang,et al.  Distributed-mass payload dynamics and control of dual cranes undergoing planar motions , 2019, Mechanical Systems and Signal Processing.

[29]  Tuan Anh Le,et al.  Partial feedback linearization and sliding mode techniques for 2D crane control , 2014 .

[30]  Ho-Hoon Lee,et al.  Modeling and Control of a Three-Dimensional Overhead Crane , 1998 .

[31]  Viet Duc La,et al.  Combination of input shaping and radial spring-damper to reduce tridirectional vibration of crane payload , 2019, Mechanical Systems and Signal Processing.

[32]  William Singhose,et al.  Payload twisting dynamics and oscillation suppression of tower cranes during slewing motions , 2019 .

[33]  Auwalu M Abdullahi,et al.  Output-based command shaping technique for an effective payload sway control of a 3D crane with hoisting , 2017 .

[34]  Vinh Nguyen,et al.  Combined input shaping and feedback control for double-pendulum systems , 2017 .

[35]  Ning Sun,et al.  Nonlinear Motion Control of Underactuated Three-Dimensional Boom Cranes With Hardware Experiments , 2018, IEEE Transactions on Industrial Informatics.

[36]  Zaharuddin Mohamed,et al.  A neural network-based input shaping for swing suppression of an overhead crane under payload hoisting and mass variations , 2018, Mechanical Systems and Signal Processing.