Dynamics model and dynamic simulation of overhead crane load swing systems based on the ADAMS

The development of combination of proportional-integral-derivative and proportional- derivative (PID-PD) controller for overhead crane is presented. Due to the pendulum-like settings, the swinging of load has caused many difficulties while operating the overhead crane. Swinging of the load causes unnecessary tension to the cable and structure of the overhead crane, which will compromise the safety of operator and other workers. Overhead cranes should have the ability to move the load to desired point as fast as possible while minimizing the load swing and maintaining the accuracy. Proportional-integral-derivative (PID) controller is used for overhead crane positioning and proportional-derivative (PD) controller for load oscillation. New time-domain performance criterion function is used in particle swarm optimization (PSO) algorithm for the tuning of the PID-PD controller rather than the general performance criteria using error of the system. This performance criterion function monitors the performance in terms of rise time, overshoot, settling time and steady state error of the overhead crane system. The performance of the optimised PID-PD controller is verified with simulation in MATLAB. The PSO optimized PID-PD controllers with new performance criterion are shown effective in improving the step response of the overhead crane position as well as controlled the load oscillation.

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Load swing suppression in the 3-dimensional overhead crane via second-order sliding-modes

2010 11th International Workshop on Variable Structure Systems (VSS) ◽

10.1109/vss.2010.5545138 ◽

2010 ◽

Cited By ~ 17

Author(s):

Alessandro Pisano ◽

Stefano Scodina ◽

Elio Usai

Keyword(s):

Second Order ◽

Overhead Crane ◽

Sliding Modes ◽

3 Dimensional ◽

Load Swing

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Double-Hoist Dynamics and Oscillation Control of a Quadcopter Carrying a Swinging and Twisting Load

10.21203/rs.3.rs-28786/v1 ◽

2020 ◽

Author(s):

Kuo Zhu ◽

Jie Huang ◽

Yifan Zhang

Keyword(s):

Material Handling ◽

Control Method ◽

Coupling Effect ◽

Dynamics Model ◽

Oscillation Control ◽

Large Size ◽

Mass Load ◽

Strong Coupling Effect ◽

Nonlinear Dynamics Model ◽

Load Swing

Abstract Quadcopters can serve as aerial cranes that are able to suspend large-size loads below the fuselage for material-handling services. Double-hoist mechanisms help quadcopter to transport bulky loads effectively. However, double-hoist mechanisms exhibit strong coupling effect among the quadcopter’s attitude, load swing, and load twisting. Different from the single-hoist mechanisms, no effects have been directed at quadcopter slung loads with double-hoist mechanisms. A novel nonlinear dynamics model of a quadcopter carrying a distributed-mass load by double-hoist mechanisms is given in this paper. This explicit model captures the coupling between the quadcopter and load motion. Then a novel control method is proposed to reduce the swing and twisting of the load simultaneously. The simulation results illustrate that the control method succeeds in limiting the unwanted oscillations of quadcopter attitudes, load swing and twisting.

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MSC ADAMS Based Simulation of a Test-Bed for Cell Injecting Using IPMC

Advanced Engineering Forum ◽

10.4028/www.scientific.net/aef.2-3.507 ◽

2011 ◽

Vol 2-3 ◽

pp. 507-511

Author(s):

Li Na Hao ◽

Hong Tao Liu ◽

Jian Chao Gao ◽

Peng Zhang

Keyword(s):

Rigid Body ◽

Dynamic Simulation ◽

Initial Position ◽

Test Bed ◽

Dynamics Model ◽

Ionic Polymer Metal Composites ◽

Ionic Polymer ◽

Adams Software ◽

Physical Prototype ◽

Polymer Metal

The research is aimed at finishing the dynamic simulation of test-bed for cell injecting using IPMC (Ionic Polymer Metal Composites) based on MSC ADAMS. By changing experiment data of the simulation in ADAMS, researchers choose optimization data as the initial parameters of test-bed for cell injecting. A multi-rigid-body system dynamics model of the test-bed for cell injecting is established through analyzing the system dynamic parameters and applying a mechanical dynamic analysis software ADAMS. The optimal PID parameters of microscope’s focusing system are confirmed. Thus relevant actuating motor can control microscope’s lens rapidly and exactly by these parameters. The realization of ordinal simulation provides accurate recognition of experiment system’s initial position and running time. This research finishes dynamic simulation and analysis of a test-bed for cell injecting using ADAMS software. Optimal parameters are chosen for the control system according to simulation and analysis. The theoretical analysis and experimental results can be widely referred by the multi-rigid-body physical prototype manufacture.

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Control Optimisation of Overhead Gantry Cranes via Fuzzy Controllers

Handbook of Research on Advancements in Manufacturing, Materials, and Mechanical Engineering - Advances in Mechatronics and Mechanical Engineering ◽

10.4018/978-1-7998-4939-1.ch014 ◽

2021 ◽

pp. 302-321

Author(s):

Ashwani Kharola

Keyword(s):

Gantry Crane ◽

Membership Functions ◽

Overhead Crane ◽

Fuzzy Controllers ◽

Triangular Shape ◽

Simulink Model ◽

Control Optimisation ◽

Load Swing ◽

Gantry Cranes ◽

Varying Mass

This study considers a fuzzy logic-based reasoning approach for control and optimising performance of overhead gantry crane. The objective of this study is to minimise load swing and to stabilise the crane in the least possible time. The fuzzy controllers were designed using nine Gaussian and triangular shape membership functions. The results clearly confirmed the effect of shape of memberships on performance of fuzzy controllers. Performance of overhead crane was measured in terms of settling time and overshoot ranges. The study also demonstrates the influence of varying mass of the load, mass of crane, and length of crane bar on stability of the crane. A mathematical model of the crane system has been derived to develop a simulink model of proposed system and performing simulations.

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A Robotic Truck Crane with Vibration Sensors

Journal of Robotics and Mechatronics ◽

10.20965/jrm.1995.p0213 ◽

1995 ◽

Vol 7 (3) ◽

pp. 213-217

Author(s):

Yoshio Tanaka ◽

◽

Tetsushi Ueta ◽

Hiroshi Kawakami ◽

Takashi Sumitomo ◽

...

Keyword(s):

Dynamic Simulation ◽

Control Design ◽

Simulation Method ◽

Prototype System ◽

System Control ◽

Spherical Pendulum ◽

Vibration Sensors ◽

Rotary Crane ◽

Load Swing ◽

Efficient Dynamic Simulation

To solve the problems of the shortage and increasing age of skilled operators in Japan, we propose a new concept of “robotic crane system” or “intelligent crane system” and develop the prototype system under laboratory conditions. This paper describes the hardware of the robotic crane system, control design of the flexible rotary crane using vibration sensors, and the first experimental results. In order to simulate the crane’s load swing efficiently and develop a 3-D simulator for cranes with a spherical pendulum such as a rotary crane, an efficient dynamic simulation method is also presented. This method was applied to the prototype system.

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