Modeling and Control of a Three-Dimensional Overhead Crane

1998 ◽  
Vol 120 (4) ◽  
pp. 471-476 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
Dynamic Model ◽  
Three Dimensional ◽  
Practical Case ◽  
Overhead Crane ◽  
Modeling And Control ◽  
Control Scheme ◽  
Decoupled Control ◽  
Load Swing ◽  
And Control ◽  
Two Degree Of Freedom

In this paper, a new dynamic model of a three-dimensional overhead crane is derived based on a newly defined two-degree-of-freedom swing angle. The dynamic model describes the simultaneous traveling, traversing, and hoisting motions of the crane and the resulting load swing. For anti-swing control, this paper proposes a decoupled control scheme based on the dynamic model linearized around the stable equilibrium. The decoupled scheme guarantees not only rapid damping of load swing but also accurate control of crane position and load hoisting for the practical case of simultaneous traveling, traversing, and slow hoisting motions, which is also proven by experiments.

Nonlinear Modeling and Control of Overhead Crane Load Sway

1988 ◽  
Vol 110 (3) ◽  
pp. 266-271 ◽  
Author(s):  
Kamal A. F. Moustafa ◽  
A. M. Ebeid
Keyword(s):  
Control System ◽  
Feedback Control ◽  
Digital Computer ◽  
Nonlinear Modeling ◽  
Overhead Crane ◽  
Nonlinear Dynamical ◽  
Modeling And Control ◽  
Control Scheme ◽  
Rate Of Decay ◽  
And Control

In this paper, we derive a nonlinear dynamical model for an overhead crane. The model takes into account simultaneous travel and transverse motions of the crane. The aim is to transport an object along a specified transport route in such a way that the swing angles are suppressed as quickly as possible. We develop an antiswing control system which adopts a feedback control to specify the crane speed at every moment. The gain matrix is chosen such that a desired rate of decay of the swing angles is obtained. The model and control scheme are simulated on a digital computer and the results prove that the feedback control works well.

scholarly journals Modeling and Control of Underactuated Three-Dimensional Overhead Crane Systems

2021 ◽  
Vol 6 ◽  
pp. 80-85
Author(s):  
Magdi S. Mahmoud ◽  
Nezar M. Alyazidi ◽  
Abdalrahman M. Hassanine
Keyword(s):  
Three Dimensional ◽  
Vital Role ◽  
Overhead Crane ◽  
Modeling And Control ◽  
Recent Developments ◽  
Heavy Loads ◽  
And Control ◽  
Future Work

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.

Three-Dimensional Dynamic Modeling and Control of Off-Centered Bridge Crane Lifts

2017 ◽  
Vol 139 (4) ◽  
Author(s):  
Anthony Garcia ◽  
William Singhose ◽  
Aldo Ferri
Keyword(s):  
Dynamic Model ◽  
Dynamic Modeling ◽  
Three Dimensional ◽  
Horizontal Motion ◽  
Bridge Crane ◽  
Suspension Point ◽  
Modeling And Control ◽  
Surrounding Environment ◽  
And Control

When cranes lift payloads off the ground, the payload may slide sideways or swing unexpectedly. This motion occurs when the payload is not directly beneath the overhead suspension point of the hoist cable. Given that cable suspension points can be hundreds of feet above the payload, it is difficult for crane operators to know if the hoist cable is vertical before lifting the payload off the ground. If an off-center lift creates substantial horizontal motion, then it can create significant hazards for the operators, the payload, and the surrounding environment. This paper develops a three-dimensional dynamic model that predicts motions of off-centered lifts.

scholarly journals Development, Modeling and Control of a Dual Tilt-Wing UAV in Vertical Flight

Drones ◽  
2020 ◽  
Vol 4 (4) ◽  
pp. 71
Author(s):  
Luz M. Sanchez-Rivera ◽  
Rogelio Lozano ◽  
Alfredo Arias-Montano
Keyword(s):  
Dynamic Model ◽  
Attitude Control ◽  
Test Bench ◽  
Aerodynamic Coefficients ◽  
Nonlinear Dynamic Model ◽  
Modeling And Control ◽  
Drag And Lift ◽  
And Control ◽  
Dynamics Method ◽  
Indoor And Outdoor

Hybrid Unmanned Aerial Vehicles (H-UAVs) are currently a very interesting field of research in the modern scientific community due to their ability to perform Vertical Take-Off and Landing (VTOL) and Conventional Take-Off and Landing (CTOL). This paper focuses on the Dual Tilt-wing UAV, a vehicle capable of performing both flight modes (VTOL and CTOL). The UAV complete dynamic model is obtained using the Newton–Euler formulation, which includes aerodynamic effects, as the drag and lift forces of the wings, which are a function of airstream generated by the rotors, the cruise speed, tilt-wing angle and angle of attack. The airstream velocity generated by the rotors is studied in a test bench. The projected area on the UAV wing that is affected by the airstream generated by the rotors is specified and 3D aerodynamic analysis is performed for this region. In addition, aerodynamic coefficients of the UAV in VTOL mode are calculated by using Computational Fluid Dynamics method (CFD) and are embedded into the nonlinear dynamic model. To validate the complete dynamic model, PD controllers are adopted for altitude and attitude control of the vehicle in VTOL mode, the controllers are simulated and implemented in the vehicle for indoor and outdoor flight experiments.

NEURAL MODELING AND CONTROL OF DYNAMIC SYSTEMS WITH HYSTERESIS

2007 ◽  
Vol 31 (1) ◽  
pp. 127-141
Author(s):  
Yonghong Tan ◽  
Xinlong Zhao
Keyword(s):  
Dynamic Systems ◽  
Control Strategy ◽  
Neural Modeling ◽  
Modeling And Control ◽  
Control Scheme ◽  
The Neural Networks ◽  
Adaptive Control Strategy ◽  
Set Up ◽  
Modeling Strategy ◽  
And Control

A hysteretic operator is proposed to set up an expanded input space so as to transform the multi-valued mapping of hysteresis to a one-to-one mapping so that the neural networks can be applied to model of the behavior of hysteresis. Based on the proposed neural modeling strategy for hysteresis, a pseudo control scheme is developed to handle the control of nonlinear dynamic systems with hysteresis. A neural estimator is constructed to predict the system residual so that it avoids constructing the inverse model of hysteresis. Thus, the control strategy can be used for the case where the output of hysteresis is unmeasurable directly. Then, the corresponding adaptive control strategy is presented. The application of the novel modeling approach to hysteresis in a piezoelectric actuator is illustrated. Then a numerical example of using the proposed control strategy for a nonlinear system with hysteresis is presented.

Decentralized Control of a Tower Crane

1999 ◽  
Author(s):  
Kiyoshi Takagi ◽  
Hidekazu Nishimura
Keyword(s):  
Decentralized Control ◽  
Three Dimensional ◽  
Reduced Order Model ◽  
Flexible Structure ◽  
Order Model ◽  
Modeling And Control ◽  
Reduced Order ◽  
Tower Crane ◽  
Three Dimensional Models ◽  
And Control

Abstract This paper deals with modeling and control of a crane mounted on a tower-like flexible structure. A fast transfer of the load causes the sway of the load rope and the vibration of the flexible structure. Our object is to control both the sway and the vibration by the inherent capability of the tower crane. This paper makes its three-dimensional models for simulation and reduced-order-model in order to design the decentralized control system. Then, we design the decentralized H∞ compensator and verify the efficiency by simulations and experiments.

scholarly journals Dynamic Modeling and Control of a Coupled Reforming/Combustor System for the Production of H2 via Hydrocarbon-Based Fuels

Processes ◽  
2020 ◽  
Vol 8 (10) ◽  
pp. 1243
Author(s):  
Dimitris Ipsakis ◽  
Theodoros Damartzis ◽  
Simira Papadopoulou ◽  
Spyros Voutetakis
Keyword(s):  
H2 Production ◽  
Saturated Hydrocarbons ◽  
Modeling And Control ◽  
Start Up ◽  
Control Scheme ◽  
Reactor Temperature ◽  
Zero Offset ◽  
And Control ◽  
Water Gas ◽  
Reforming Reactions

The present work aims to provide insights into the dynamic operation of a coupled reformer/combustion unit that can utilize a variety of saturated hydrocarbons (HCs) with 1–4 C atoms towards H2 production (along with CO2). Within this concept, a preselected HC-based feedstock enters a steam reforming reactor for the production of H2 via a series of catalytic reactions, whereas a sequential postprocessing unit (water gas shift reactor) is then utilized to increase H2 purity and minimize CO. The core unit of the overall system is the combustor that is coupled with the reformer reactor and continuously provides heat (a) for sustaining the prevailing endothermic reforming reactions and (b) for the process feed streams. The dynamic model as it is initially developed, consists of ordinary differential equations that capture the main physicochemical phenomena taking place at each subsystem (energy and mass balances) and is compared against available thermodynamic data (temperature and concentration). Further on, a distributed control scheme based on PID (Proportional–Integral–Derivative) controllers (each one tuned via Ziegler–Nichols/Z-N methodology) is applied and a set of case studies is formulated. The aim of the control scheme is to maintain the selected process-controlled variables within their predefined set-points, despite the emergence of sudden disturbances. It was revealed that the accurately tuned controllers lead to (a) a quick start-up operation, (b) minimum overshoot (especially regarding the sensitive reactor temperature), (c) zero offset from the desired operating set-points, and (d) quick settling during disturbance emergence.

Modeling and control of a mobile manipulator

Robotica ◽  
1998 ◽  
Vol 16 (6) ◽  
pp. 607-613 ◽  
Author(s):  
J. H. Chung ◽  
S. A. Velinsky
Keyword(s):  
Dynamic Model ◽  
Control Method ◽  
Harmful Effect ◽  
Euler Method ◽  
Friction Model ◽  
Mobile Manipulator ◽  
Wheel Slip ◽  
Modeling And Control ◽  
Control Approach ◽  
And Control

This paper concerns the modeling and control of a mobile manipulator which consists of a robotic arm mounted upon a mobile platform. The equations of motion are derived using the Lagrange-d'Alembert formulation for the nonholonomic model of the mobile manipulator. The dynamic model which considers slip of the platform's tires is developed using the Newton-Euler method and incorporates Dugoff's tire friction model. Then, the tracking problem is investigated by using a well known nonlinear control method for the nonholonomic model. The adverse effect of the wheel slip on the tracking of commanded motion is discussed in the simulation. For the dynamic model, a variable structure control approach is employed to minimize the harmful effect of the wheel slip on the tracking performance. The simulation results demonstrate the effectiveness of the proposed control algorithm.

Modeling and Control of a Rotary Crane

1985 ◽  
Vol 107 (3) ◽  
pp. 200-206 ◽  
Author(s):  
Y. Sakawa ◽  
A. Nakazumi
Keyword(s):  
Feedback Control ◽  
Equilibrium State ◽  
Open Loop ◽  
The State ◽  
Control Input ◽  
Loop Control ◽  
Modeling And Control ◽  
Control Scheme ◽  
Rotary Crane ◽  
And Control

In this paper we first derive a dynamical model for the control of a rotary crane, which makes three kinds of motion (rotation, load hoisting, and boom hoisting) simultaneously. The goal is to transfer a load to a desired place in such a way that at the end of transfer the swing of the load decays as quickly as possible. We first apply an open-loop control input to the system such that the state of the system can be transferred to a neighborhood of the equilibrium state. Then we apply a feedback control signal so that the state of the system approaches the equilibrium state as quickly as possible. The results of computer simulation prove that the open-loop plus feedback control scheme works well.

Physical Modeling and Control of a Multi-Cylinder HCCI Engine

2009 ◽  
Author(s):  
Nikhil Ravi ◽  
Matthew J. Roelle ◽  
Hsien-Hsin Liao ◽  
Adam F. Jungkunz ◽  
Chen-Fang Chang ◽  
...  
Keyword(s):  
Direct Injection ◽  
Work Output ◽  
Compression Ignition ◽  
Piston Engine ◽  
Modeling And Control ◽  
Hcci Engine ◽  
Operating Region ◽  
Control Scheme ◽  
And Control ◽  
Wide Operating

Homogeneous charge compression ignition (HCCI) is one of the most promising piston-engine concepts for the future, providing significantly improved efficiency and emissions characteristics relative to current technologies. This paper presents a framework for controlling a multi-cylinder HCCI engine with exhaust recompression and direct injection of fuel into the cylinder. A physical model is used to describe the HCCI process, with the model states being closely linked to the thermodynamic state of the cylinder constituents. Separability between the effects of the control inputs on the desired outputs provides an opportunity to develop a simple linear control scheme, where the fuel is used to control the work output and the valve timings are used to control the phasing of combustion. Experimental results show good tracking of both the work output and combustion phasing over a wide operating region. In addition, the controller is able to balance out differences between cylinders, and reduce the cycle-to-cycle variability of combustion.

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