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Research on Nonlinear Coupling Anti-Swing Control Method of Double Pendulum Gantry Crane Based on Improved Energy

Huaitao Shi, Gang Li, Xin Ma, Jie Sun
2019 Symmetry  
A new nonlinear coupling control method based on improved energy is proposed in this paper. We define coupled control signal among trolley, hook and payload.  ...  The double pendulum type gantry crane is a typical symmetry underactuated motion system.  ...  Zhang Menghua from Shandong University for her guidance on the section of simulation results and analysis in the article.  ... 
doi:10.3390/sym11121511 fatcat:eo6v6jihnrf2jkgd4nehwev7ei

Equivalent Rope Length-Based Trajectory Planning for Double Pendulum Bridge Cranes with Distributed Mass Payloads

Qingxiang Wu, Ning Sun, Xiaokai Wang
2022 Actuators  
In this paper, based on the concept of the equivalent rope length, an equivalent single pendulum model of the double pendulum bridge crane with the distributed mass payload is established.  ...  On this basis, the particle swarm optimization algorithm is adopted to solve the equivalent rope length and calculate the parameters of the anti-swing velocity trajectory based on the phase plane method  ...  In detail, feedback control methods of the double pendulum crane system include proportional integral derivative (PID) control [13] , state feedback control [14] , sliding mode control [15] , enhanced-coupling  ... 
doi:10.3390/act11010025 fatcat:5lic6jo6vvbupmfxwmjk2udvr4

An improved negative zero vibration anti-swing control strategy for grab ship unloader based on elastic wire rope model

Xiaohua Cao, Chao Meng, Yong Zhou, Meng Zhu
2021 Mechanics & Industry  
Moreover, elastic rope model can improve the swing angle control effect of grab based on the proposed control strategy compared with rigid rope model.  ...  Based on this model, an improved Negative Zero Vibration (NZV) shaper with optimal control parameters of variable rope length system is proposed to restrain the swing of grab.  ...  [33] [34] [35] developed a hybrid input shaping method based on the double-pendulum dynamic model to generate acceleration commands to control operation and swing of overhead crane.  ... 
doi:10.1051/meca/2021045 fatcat:uy2sgecsnrfkrfczvg66yvn3hq

Investigation of dynamics and power needs for container unloading from ship process

Jolanta Janutėnienė, Marijonas Bogdevičius, Valdas Jankūnas, Jūratė Janutėnaitė-Bogdanienė, Arūnas Andziulis, Mindaugas Kurmis, Darius Drungilas
2021 Eksploatacja i Niezawodnosc  
Requirement of lifting power was modelled depending on mass of cargo. Additional power needs in case of contact forces between container and wall of the ship's cargo hold were calculated.  ...  The operational problem of container unloading from the ship is analyzed in this paper. Dynamic "crane-cargo-ship" system was investigated, and a mathematical model was created.  ...  S.Jakovlev, Z Lukosius for valuable insights and collection of data.  ... 
doi:10.17531/ein.2022.1.11 fatcat:hw6p36wgdbhlrapu6etp4sfqfa

Advanced Discrete-Time Control Methods for Industrial Applications [article]

Arash Khatamianfar
2015 arXiv   pre-print
A novel load swing control is also designed based on passivity-based control to suppress load swings.  ...  The nonlinearities of overhead crane dynamics are treated as disturbances acting on each actuator.  ...  For instance, the authors in [42] used additional nonlinear feedback terms with a PD controller to increase the coupling between gantry and payload and improve the transient behavior of the overhead  ... 
arXiv:1504.04423v2 fatcat:kzxcyhj4z5hrjhtoorxnm5dzea

Real-Time Robust and Optimized Control of a 3D Overhead Crane System

Arash Khatamianfar, Andrey V. Savkin
2019 Sensors  
By adopting the independent joint control strategy, a new and simplified model is developed where the overhead crane actuators are used to design the controller, with all the nonlinear equations of motions  ...  A new and advanced control system for three-dimensional (3D) overhead cranes is proposed in this study using state feedback control in discrete time to deliver high performance trajectory tracking with  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/s19153429 fatcat:oxcqwn7d4ffvbcy5oaptyzng2i

Conference Guide [Front matter]

2020 2020 16th International Conference on Control, Automation, Robotics and Vision (ICARCV)  
The paper presents a practical anti-sway crane controller based on classical PID and fuzzy logic as well.  ...  In this case, the double closed loop controller with current sharing of interleaved DC/DC converter is proposed to against coupling coefficient variation.  ...  Security of consensus control is of key significance in multi-agent systems.  ... 
doi:10.1109/icarcv50220.2020.9305477 fatcat:4h7gpoj7ljgsrlkjoyw3qcfzxi

Table of Contents

2021 2021 40th Chinese Control Conference (CCC)   unpublished
ZHAO Wenjun, XIA Yuanqing, SONG Haiping, SUN Zhongqi, XU Yifeng 2051 H Control of Double Pendulum Overhead Crane Based on T-S Fuzzy Model . . . . . . . . . . . . . . . . . . . .  ...  WANG Zishuo, WANG Chunyang, LIANG Shuning, WANG Zeng 2520 Anti-swing Design of an Overhead Crane Based on Optimal Preview Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  ... 
doi:10.23919/ccc52363.2021.9550117 fatcat:55y7a2gagfhtpc6llmfvl7gqpm