Sway Reduction on Container Cranes Using Delayed Feedback Controller: Simulations and Experiments

2003 ◽  
Author(s):  
Ziyad N. Masoud ◽  
Nader A. Nayfeh ◽  
Ali H. Nayfeh
Keyword(s):  
Controller Design ◽  
Model Simulation ◽  
Feedback Controller ◽  
Scale Model ◽  
Lumped Mass ◽  
Container Cranes ◽  
Simple Pendulum ◽  
Container Crane ◽  
Large Container ◽  
Actual Configuration

Traditionally, container cranes are modeled as a simple pendulum with a lumped mass at the end of a cable. In the case of large container cranes, the actual configuration of the hoisting mechanism is significantly different; it consists typically of a set of four hoisting cables. These cables are hoisted from four different points on the trolley and are attached on the load side to four points on a spreader bar used to lift containers. The dynamics of the actual hoisting assembly of a container crane is different from that of a simple pendulum. A controller design based on the actual model will more likely result in a response superior to those based on simple models. In this work, a nonlinear mathematical model of the actual container crane is developed. A delayed position-feedback controller is designed. Performance of the controller is simulated on a 1/10 scale model of a 65-ton container crane using the full nonlinear model. Simulation results are verified experimentally on a 1/10 scale model of the same container crane.

Sway Reduction on Quay-side Container Cranes Using Delayed Feedback Controller: Simulations and Experiments

2005 ◽  
Vol 11 (8) ◽  
pp. 1103-1122 ◽  
Author(s):  
Ziyad N. Masoud ◽  
Ali H. Nayfeh ◽  
Nader A. Nayfeh
Keyword(s):  
Controller Design ◽  
Model Simulation ◽  
Delayed Feedback ◽  
Feedback Controller ◽  
Scale Model ◽  
Lumped Mass ◽  
Container Cranes ◽  
Simple Pendulum ◽  
Container Crane ◽  
Delayed Feedback Controller

Traditionally, a container crane is modeled as a simple pendulum with either a flexible or a rigid hoisting cable, and a lumped mass at the end of the cable. However, in the case of quay-side container cranes, the actual configuration of the hoisting mechanism is significantly different; it consists typically of a set of four hoisting cables. The cables are hoisted from four different points on a trolley and are attached on the load side to four points on a spreader bar used to lift containers. A controller design based on the actual model will most likely result in a response superior to those based on simple pendulum models. In this paper, we develop a mathematical model of the actual quay-side container crane. A simplified model is then used to obtain the gain and time delay for a delayed feedback controller, which will be used for the control of payload sway oscillation. Performance of the controller is simulated on a 1/10th scale computer model of a 65 ton container crane using the full model. Simulation results are verified experimentally on a 1/10th scale model of the same container crane.

Differential Cable Length Manipulation for Oscillation Control of Quay-Side Container Cranes

2005 ◽  
Author(s):  
Ziyad N. Masoud
Keyword(s):  
Delayed Feedback ◽  
Degree Of Freedom ◽  
Lumped Mass ◽  
Container Cranes ◽  
Cable Length ◽  
Simple Pendulum ◽  
Container Crane ◽  
Differential Change ◽  
Oscillation Control ◽  
Feedback Algorithm

Traditionally, a crane is modeled as a simple pendulum with a lumped mass at the end of a hoisting cable. However, in the case of quay-side container cranes the actual hoisting mechanism consists typically of a set of four hoisting cables. Modern quay-side container cranes use independent front and rear hoisting cables. This degree of freedom can be utilized to control payload sway oscillations. In this work, a delayed feedback algorithm is used to produce a controlled differential change in the length of the front and rear hoisting cables of a typical quay-side container crane.

Nonlinear Seismic Responses of Container Cranes Including the Contact Problem Between Wheels and Rails

2004 ◽  
Vol 126 (1) ◽  
pp. 59-65 ◽  
Author(s):  
Nobuyuki Kobayashi ◽  
Hiroshi Kuribara ◽  
Tomokazu Honda ◽  
Masahiro Watanabe
Keyword(s):  
Contact Problem ◽  
Seismic Response ◽  
Large Scale ◽  
Three Dimensional ◽  
Modeling Method ◽  
Contact Forces ◽  
Scale Model ◽  
Container Cranes ◽  
Nonlinear Seismic Response ◽  
Container Crane

This paper presents a modeling method based on multibody dynamics formulation for simulating the three-dimensional nonlinear seismic response of a large, movable container crane, including the contact problem regarding the wheels attached to the bottom of its legs and the rails on which they ride. As a container crane is large and flexible structure, its wheels should be lifted up and derailed due to the seismic excitation. The contact configuration and the contact forces between the wheels and the rail or the ground that significantly affect the seismic response of the structure are classified and calculated in reference to geometric relationships between contact-judging markers on the wheels and the rails. It is found that the numerical simulations with the presented modeling method quite accurately simulates the nonlinear seismic response of a container crane including the uplifting and derailment behavior of the wheels that is found in large-scale model shaking tests.

Observer-Based Nonlinear Robust Control of Floating Container Cranes Subject to Output Hysteresis

2019 ◽  
Vol 141 (11) ◽  
Author(s):  
Le Anh Tuan ◽  
Quang Ha ◽  
Pham Van Trieu
Keyword(s):  
Underactuated System ◽  
Control Performance ◽  
Control Approach ◽  
Container Cranes ◽  
Container Crane ◽  
Water Port ◽  
Parameter Variations ◽  
Large Container ◽  
Wave Induced ◽  
Nonlinear Robust

A container crane mounted on a pontoon is utilized to transfer containers to smaller ships when a large container ship cannot reach the shallow water port. The shipboard container is considered as an underactuated system having complicated kinematic constraints and hysteretic nonlinearities, with only two actuators to conduct simultaneous tasks: tracking the trolley to destination, lifting the container to the desired cable length, and suppressing the axial container oscillations and container swing. Parameter variations, wave-induced motions of the ship, wind disturbance, and nonlinearities remain challenges for control of floating container cranes. To deal with these problems, this study presents the design of two nonlinear robust controllers, taking into account the influence of the output hysteresis, and using velocity feedback from a state observer. Control performance of the proposed controllers is verified in both simulation and experiments. Together with consistently stabilizing outputs, the proposed control approach well rejects hysteresis and disturbance.

Robust H2 Output Feedback Controller Design for Damping Power System Oscillations

2017 ◽  
Vol 6 (10) ◽  
pp. 8
Author(s):  
Kho Hie Kwee ◽  
Hardiansyah .
Keyword(s):  
Power System ◽  
Output Feedback ◽  
Controller Design ◽  
Sufficient Conditions ◽  
Feedback Controller ◽  
Linear Matrix ◽  
Parameter Uncertainties ◽  
Worst Case ◽  
Output Feedback Controller ◽  
Power System Oscillations

This paper addresses the design problem of robust H2 output feedback controller design for damping power system oscillations. Sufficient conditions for the existence of output feedback controllers with norm-bounded parameter uncertainties are given in terms of linear matrix inequalities (LMIs). Furthermore, a convex optimization problem with LMI constraints is formulated to design the output feedback controller which minimizes an upper bound on the worst-case H2 norm for a range of admissible plant perturbations. The technique is illustrated with applications to the design of stabilizer for a single-machine infinite-bus (SMIB) power system. The LMI based control ensures adequate damping for widely varying system operating.

scholarly journals Gain-Preserving Data-Driven Approximation of the Koopman Operator and Its Application in Robust Controller Design

Mathematics ◽  
2021 ◽  
Vol 9 (9) ◽  
pp. 949
Author(s):  
Keita Hara ◽  
Masaki Inoue
Keyword(s):  
Controller Design ◽  
Internal Model Control ◽  
Feedback Controller ◽  
Data Driven ◽  
Koopman Operator ◽  
Plant System ◽  
Dimensional Approximation ◽  
Model Control ◽  
Data Driven Modeling ◽  
L2 Gain

In this paper, we address the data-driven modeling of a nonlinear dynamical system while incorporating a priori information. The nonlinear system is described using the Koopman operator, which is a linear operator defined on a lifted infinite-dimensional state-space. Assuming that the L2 gain of the system is known, the data-driven finite-dimensional approximation of the operator while preserving information about the gain, namely L2 gain-preserving data-driven modeling, is formulated. Then, its computationally efficient solution method is presented. An application of the modeling method to feedback controller design is also presented. Aiming for robust stabilization using data-driven control under a poor training dataset, we address the following two modeling problems: (1) Forward modeling: the data-driven modeling is applied to the operating data of a plant system to derive the plant model; (2) Backward modeling: L2 gain-preserving data-driven modeling is applied to the same data to derive an inverse model of the plant system. Then, a feedback controller composed of the plant and inverse models is created based on internal model control, and it robustly stabilizes the plant system. A design demonstration of the data-driven controller is provided using a numerical experiment.

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