Swing angle estimation for anti-sway overhead crane control using load cell

2011 ◽  
Vol 9 (2) ◽  
pp. 301-309 ◽  
Author(s):  
Mohammad Ebrahimi ◽  
Mostafa Ghayour ◽  
Seyed M. Madani ◽  
Amir Khoobroo
Keyword(s):  
Load Cell ◽  
Overhead Crane ◽  
Angle Estimation ◽  
Crane Control ◽  
Swing Angle

Visual Feedback Control of a Three-Dimensional Overhead Crane

Volume 2 ◽  
2004 ◽  
Author(s):  
Yasuo Yoshida
Keyword(s):  
Three Dimensional ◽  
Length Change ◽  
Degree Of Freedom ◽  
Overhead Crane ◽  
Vision Sensor ◽  
Position Measurement ◽  
Crane Control ◽  
Swing Angle ◽  
Direction Angle ◽  
Vision Feedback

Overhead cranes are used widely in various industrial fields. Crane transportation load must be transported for the work efficiency and safety to the destination without swinging. As a demand of highly precise and safety rises, automation is thought about as a method corresponding to lack of operator of mastery of skills. A transportation load of an overhead crane swings by a traveling acceleration change while doing up-and-down motion of a rope length change. It is necessary to measure this three-dimensional motion for swing suppression control. When it is installed in an overhead crane, a measurement sensor becomes complicated. In this paper, the trial stereovision device is manufactured which is a non-contact sensor, not an installation sensor and tried to control the overhead crane by vision feedback. The vision sensor is a stereovision device of four degree of freedom for tracking and gazing with two CCD cameras. A position measurement of a transportation load and an experiment of tracking control were done. The three-dimensional position of the transportation load is provided with CCD image data of two cameras, the focus distance, and four-vision device drive angles and is used for crane control. The vision device drive target angles that a point of intersection of two camera optical axes seems to always accord with the transportation load center is obtained using inverse kinematics. With these target angles, the control of tracking and gazing about the transportation load can be done. On the other hand, in an overhead crane model, using measured three-dimensional coordinate values, positioning and vibration suppression control of the transportation load was done. The overhead crane model consists of a trolley running on two perpendicular slide guide rails and a hoisting device of the transportation load. The overhead crane model has five degree of freedom, and they are x, y direction displacements of a trolley, a rope length, a swing angle, a swing direction angle. The variable rope length, the swing angle and the swing direction angle are calculated using the load position measured by the vision sensor. Variable digital gains of the trolley in consideration of the rope length change were pursued by this information, and overhead crane control was done. The experiment result of overhead crane control by vision feedback showed that the used control system was effective.

Energy-Based Approach for Controller Design of Overhead Cranes: A Comparative Study

2013 ◽  
Vol 365-366 ◽  
pp. 784-787 ◽  
Author(s):  
Nguyen Quang Hoang ◽  
Soon Geul Lee
Keyword(s):  
Closed Loop ◽  
Controller Design ◽  
Asymptotically Stable ◽  
Overhead Crane ◽  
Overhead Cranes ◽  
Swing Angle ◽  
Optimal Linear ◽  
Linear And Nonlinear ◽  
Invariance Theorem ◽  
Lyapunov Technique

In this paper, five controllers including linear and nonlinear ones for an underactuated overhead crane are derived based on the passivity of the system. The total energy of the system and its square are used in Lyapunov candidate function to design controllers. The equilibrium point of the closed loop is proven to be asymptotically stable by the Lyapunov technique and LaSalle invariance theorem. In addition, the optimal linear controller is also combined to force the swing angle to converge fast to zero by reaching destination of the trolley. Numerical simulations are carried out to evaluate the controllers.

scholarly journals Perancangan Pengontrolan Overhead Crane Menggunakan Kabel dan Nirkabel Berbasis Arduino

2019 ◽  
Vol 7 (2) ◽  
pp. 76-84
Author(s):  
Ari Novriadi
Keyword(s):  
Data Communication ◽  
Control Design ◽  
Overhead Crane ◽  
Point Contacts ◽  
Push Button ◽  
Crane Control ◽  
Overhead Cranes ◽  
Usb Host ◽  
Contact Points ◽  
Heavy Equipment

Overhead Crane is a heavy equipment which is very much found in various industries, factories, and workshops that are used to transport material. In general, controlling the Overhead Crane is operated by using a Push Button that is hung together with a cable on the top frame of the Overhead Crane. in this case, humans must also be able to maintain a distance when controlling Overhead Cranes that are working to transport memterials to avoid the use of Overhead Cranes. To provide security and comfort in the use of Overhead Cranes, the authors designed an Overhead Crane controller using Arduino based cable and wireless. The design of Overhead Crane control using a cable consists of several series of Push Button arranged in a plastic box and then hung on the side of the Girder Crane. for the input foot the Push Button is given a voltage 12 VDC, while the output of the Push Button is connected with contact points of the Relay 12 VDC to execute electrically mechanical Overhead Crane. While the Overhead Crane control design using wireless consists of several components, including: Arduino Mega 2560 which is combined with USB Host Shield. Bluetooth csr 4.0 Dongle is connected to the USB Host Shield port for data communication media between Arduino Mega 2560 with Bluetooth Joystick PlayStation 3 (PS3). The signal pin of the Relay modules is connected with Arduino Mega 2560 pins according to the program designed. Contact NO points Relay modules are connected with 12 VDC Relay point contacts to execute electrical mechanical Overhead Crane.

Anti-Swing Trajectory Control of an Overhead Crane

2011 ◽  
Author(s):  
E. H. K. Fung ◽  
H. F. Yu ◽  
K. H. Suen ◽  
A. T. Leung
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Control ◽  
Fuzzy Logic Controller ◽  
Equations Of Motion ◽  
Overhead Crane ◽  
Transportation Time ◽  
Swing Angle ◽  
Total Potential ◽  
Logic Control ◽  
Set Up

Imprecise positioning and swing of load of overhead crane cause prolonged transportation time. Some researchers tried to achieve suppression of swing angle and fast transfer simultaneously. But, the hoisting motion is usually ignored which can cause greater swing angle. Hence, a physical 2-DOF overhead crane model which consists of horizontal motion and hoisting motion is set up for this study. The total kinetic energy and the total potential energy are derived to obtain dynamic equations of motion by using Lagrangian method. Secondly, fuzzy logic control (FLC) has been adopted to control positioning of horizontal and hoisting motion and to suppress swing angle during transportation. Moreover, to minimize total transportation time, proportional (P) controller is added to the system forming the switching P+FLC controller. Finally, the proposed methods are evaluated by simulations and experiments. The overall results show that fuzzy logic controller combined with P controller (P+FLC) can effectively reduce the transportation time with a little increase in the swing angle.

scholarly journals An Anti-Swing Closed-Loop Control Strategy for Overhead Cranes

2018 ◽  
Vol 8 (9) ◽  
pp. 1463 ◽  
Author(s):  
Xianghua Ma ◽  
Hanqiu Bao
Keyword(s):  
Control Strategy ◽  
Closed Loop ◽  
Working Environment ◽  
Underactuated System ◽  
Closed Loop Control ◽  
Overhead Crane ◽  
Closed Loop System ◽  
External Disturbances ◽  
Loop Control ◽  
Swing Angle

The payload swing of an overhead crane needs to be controlled properly to improve efficiency and avoid accidents. However, the swing angle is usually very difficult to control to zero degrees or for it to even remain within an acceptable range because the overhead crane is a complex nonlinear underactuated system, especially when the actual working environment is accompanied by strong disturbances and great uncertainty. To resolve this, a real-time anti-swing closed-loop control strategy is proposed that considers external disturbances. The swing angle is measured in time and it functions with the load displacement as feedback inputs of the closed-loop system. The nonlinear model of the crane is simplified by a linear system with virtual disturbances, which are estimated by the equivalent input disturbance (EID) method. Both simulation and experimental results for a 2-D overhead crane system are investigated to illustrate the validity of the proposed method.

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