An Efficient Adaptive Fuzzy Hierarchical Sliding Mode Control Strategy for 6 Degrees of Freedom Overhead Crane

<pre>The paper proposes a new approach to efficiently control a three-dimensional overhead crane with six degrees of freedom (DoF). In addition to five usual output variables including three positions of the trolley, bridge and pulley and two swing angles of the hoisting cable, it is proposed to consider elasticity of the hoisting cable, which causes oscillation in the cable direction. That is, there exists $6^{th}$ under-actuated output in the crane system. To design an efficient controller for the six-DoF crane, it first employs the hierarchical sliding mode control approach, which not only guarantees stability but also minimizes sway and oscillation of the overhead crane when it transports a payload to desired location. Moreover, the unknown and uncertain parameters of the system caused by its actuator nonlinearity and external disturbances are adaptively estimated and inferred by utilizing the fuzzy inference rule mechanism, which results in efficient operations of the crane in real time. More importantly, stabilization of the crane controlled by the proposed algorithm is theoretically proved by the use of the Lyapunov function. The proposed control approach was implemented in the synthetic environment for the extensive evaluation, where the obtained results demonstrate its effectiveness.</pre>

An Efficient Adaptive Fuzzy Hierarchical Sliding Mode Control Strategy for 6 Degrees of Freedom Overhead Crane

<pre>The paper proposes a new approach to efficiently control a three-dimensional overhead crane with six degrees of freedom (DoF). In addition to five usual output variables including three positions of the trolley, bridge and pulley and two swing angles of the hoisting cable, it is proposed to consider elasticity of the hoisting cable, which causes oscillation in the cable direction. That is, there exists $6^{th}$ under-actuated output in the crane system. To design an efficient controller for the six-DoF crane, it first employs the hierarchical sliding mode control approach, which not only guarantees stability but also minimizes sway and oscillation of the overhead crane when it transports a payload to desired location. Moreover, the unknown and uncertain parameters of the system caused by its actuator nonlinearity and external disturbances are adaptively estimated and inferred by utilizing the fuzzy inference rule mechanism, which results in efficient operations of the crane in real time. More importantly, stabilization of the crane controlled by the proposed algorithm is theoretically proved by the use of the Lyapunov function. The proposed control approach was implemented in the synthetic environment for the extensive evaluation, where the obtained results demonstrate its effectiveness.</pre>

Controlling of payload swinging of an overhead crane

A new two-level hierarchical approach to control the trolley position and payload swinging of an overhead crane is proposed. At the first level, a simple mathematical pendulum model is investigated considering the time delay due to the use of a vision system. In the second level, a chain model is developed, extending the previous pendulum model considering the vibration of the suspending chain. The relative displacement of the payload is measured with a vision sensor, and the rest of the state-space variables are determined by a collocated observer. The gain parameters related to the state variables of the chain vibration are determined by the use of a pole placement method. The proposed controller is verified by numerical simulation and experimentally on a laboratory test bench.

Design of the Power of an Electric Lifting Motor for a Single Girder Bridge Crane with a 500 Kg Load Capacity

An electric hoist could be considered as the most important component of an electric overhead crane. Electric hoists are material handling equipment used for lifting, lowering, and transporting materials and products. They are powered by an electric motor and have a controller to adjust the lifting parameters. Three-phase induction motors are most often used as electric lifting motors for bridge cranes. This paper concerns the design of the power of the electric lifting motor for an electric hoist of the single girder bridge crane with the 500 kg load capacity. It represents the design of the electric lifting motor according to a commonly used scheme for the design of electric motors, from the power at a uniform load to the relative load of the motor. Based on the input data, the necessary motor parameters are calculated using Microsoft Excel. The main parameter is the static power of the motor, the calculated value of which is 0.823 kW. Based on the value of this power, a three-phase induction motor 1.1 kW, MS90-4 is selected. This electric lifting motor is suitable for the above-mentioned bridge crane, as it meets the condition of torque overload.

Modeling and Control of Underactuated Three-Dimensional Overhead Crane Systems

Overhead crane systems play a vital role in different factories to transport heavy loads. This paper provides an overview of recent developments in the modeling and control of three-dimensional overhead crane systems. It provides a categorized survey of the published work. Different control methodologies when applied to overhead crane are examined, outlined and assessed to aid for future work.

Wireless Control Modelling for Overhead Crane

Radio frequency (RF) remote controllers are widely used in manufacturing, construction, transportation, and many other industrial applications. Cranes, drills, and miners, among others, are commonly equipped with RF remotes. Installation wired communication takes a long time to set up the connection as compared to the wireless connection. The installation becomes very lengthy and complex if we want to get connected with each router. For the same reason, for a system expansion to add more device(s), the re-routing process to connect this new device(s) to the network can be avoided. Instead, with the wireless connection, we don’t have to perform all the setup again. The network can be accessed with the authorized passcode. Radio-controlled devices are ubiquitous in all sorts of industries. In fact, many cranes are now being equipped with radio-controlled technology, which is revolutionizing the way crews move materials around a warehouse or job site. In the steel manufacturing industries, the wireless crane control has proven to assure. more advantage compared to the disadvantage. Through the surveillance and monitoring of wireless remote control for crane that done at AJSB, Prai, Malaysia.

VIRTUAL REALITY OPPORTUNITIES IN THE REDUCTION OF OCCUPATIONAL HAZARDS IN INDUSTRY 4.0

This work discuss the possibilities of Immersive Virtual Reality (iVR) environments in occupational risk prevention in the manufacturing industry. Firstly, a framework for iVR experiences design is presented. Secondly, two examples to demonstrate the usefulness of this scheme for the detection of occupational hazards are discussed. In the first one, the worker controls an overhead crane in a realistic iVR environment. Realism is searched to intensify user´s presence in the iVR and, therefore, learning effectiveness. Visual quality is maximized and natural movements and load´s inertias are programmed with this objective. The user performs different critical operations in this application. The tasks becomes more complex while the user gets used to the iVR serious game: noise level, bad lighting, presence of other workers in the working area and, especially, load unbalance. Under these conditions, the user must carry out different common tasks while avoiding accidents. In the second one, the worker moves through a factory and identifies different risk situations, taking the corresponding corrective measures. While in the first application, the user interacts with the virtual environment using a real overhead crane keypad to increase his immersion, in the second one a standard iVR interface is used, because it simulates in a natural way the interaction with virtual objects. In both cases, a data acquisition system, including positioning and eyetracking, allows the trainer to directly provide feedback to the user on his performance. Keywords: Virtual Reality; Occupational Risk Prevention; Industry 4.0; Overhead crane; Educational Games