Dynamics and control of three-dimensional dual cranes transporting a bulky payload

2020 ◽  
pp. 095440622094957
Author(s):  
Jie Huang ◽  
Kuo Zhu
Keyword(s):  
Dynamic Behavior ◽  
Nonlinear Model ◽  
Control Method ◽  
Three Dimensional ◽  
Structural Flexibility ◽  
Positioning Accuracy ◽  
Modeling And Control ◽  
Input Shaper ◽  
Dynamics And Control ◽  
And Control

The inevitable oscillations of the payload decrease the positioning accuracy and lessen the safety in dual cranes carrying a large payload. In the presence of the structural flexibility, the dynamics of dual cranes are governed by the payload swing, pitch, and twisting after considering three-dimensional motions. However, little research has been directed at the modeling and control of three-dimensional dual cranes. A dynamic model of three-dimensional dual cranes including the payload swing, pitch and twisting is described. Moreover, a combined modified extra-insensitive input shaper and four-pieces smoother method is proposed to control the swing, pitch, and twisting of the payload. The dynamic behavior of the nonlinear model and the effectiveness of the new control method are verified experimentally on dual cranes carrying a slender beam.

scholarly journals Development of Add-On Planar Translational Driving System for Aerial Manipulation with Multirotor Platform

2021 ◽  
Vol 11 (4) ◽  
pp. 1462
Author(s):  
Ryo Miyazaki ◽  
Hannibal Paul ◽  
Kazuhiro Shimonomura
Keyword(s):  
Control Method ◽  
Two Dimensions ◽  
Aerial Manipulation ◽  
Positioning Accuracy ◽  
Modeling And Control ◽  
Driving System ◽  
And Control ◽  
Push And Pull

We propose an add-on planar translational driving system (ATD) which can be equipped on a multirotor platform for aerial manipulation. The device is lightweight and consists of three ducted fans controlled via an on-board CPU. It uses a simple control method and enables a multirotor to perform positioning and generate force in two dimensions while keeping the airframe horizontal. By translating the multirotor without changing attitude, it can more smoothly and easily perform many types of aerial manipulation tasks with higher positioning accuracy. In this paper, we mainly show the design, modeling, and control of the ATD. Several preliminary experiments were performed to verify the positioning accuracy and effectiveness of the system. In addition, we successfully performed the push and pull task using a rigid arm.

An Efficient Approach for Modeling and Control of a Quadrotor

2016 ◽  
Vol 4 (2) ◽  
pp. 1-16
Author(s):  
Ahmed S. Khusheef
Keyword(s):  
Pid Control ◽  
Control Method ◽  
Mechanical Design ◽  
Loop Control ◽  
Modeling And Control ◽  
Loop Control System ◽  
And Control ◽  
Close Loop Control ◽  
Close Loop Control System ◽  
Made In

 A quadrotor is a four-rotor aircraft capable of vertical take-off and landing, hovering, forward flight, and having great maneuverability. Its platform can be made in a small size make it convenient for indoor applications as well as for outdoor uses. In model there are four input forces that are essentially the thrust provided by each propeller attached to each motor with a fixed angle. The quadrotor is basically considered an unstable system because of the aerodynamic effects; consequently, a close-loop control system is required to achieve stability and autonomy. Such system must enable the quadrotor to reach the desired attitude as fast as possible without any steady state error. In this paper, an optimal controller is designed based on a Proportional Integral Derivative (PID) control method to obtain stability in flying the quadrotor. The dynamic model of this vehicle will be also explained by using Euler-Newton method. The mechanical design was performed along with the design of the controlling algorithm. Matlab Simulink was used to test and analyze the performance of the proposed control strategy. The experimental results on the quadrotor demonstrated the effectiveness of the methodology used.

Dynamics and Control of Dual-Hoist Cranes Moving Triangular Payloads

2014 ◽  
Author(s):  
Alexander S. Miller ◽  
Padma Sarvepalli ◽  
William Singhose
Keyword(s):  
Dynamic Response ◽  
Dynamic Behavior ◽  
Bridge Crane ◽  
Response Characteristics ◽  
Dynamics And Control ◽  
System Configurations ◽  
And Control

Certain heavy-lifting applications require the coordinated movement of multiple cranes. Such tasks dramatically increase the complexity of crane operation, especially when the payload has a non-uniform shape. This paper studies the dynamic behavior of a dual-hoist bridge crane moving triangular payloads. Simulations and experiments are used to develop an understanding of the dynamic response of the system. Various inputs and system configurations are analyzed, and important response characteristics are highlighted.

scholarly journals Modeling and control of a new robotic deburring system

Robotica ◽  
2005 ◽  
Vol 24 (2) ◽  
pp. 229-237 ◽  
Author(s):  
Jae H. Chung ◽  
Changhoon Kim
Keyword(s):  
Comparative Study ◽  
Decentralized Control ◽  
Control Method ◽  
Robotic Manipulator ◽  
Coordination Control ◽  
Pneumatic Actuators ◽  
Modeling And Control ◽  
Control Approach ◽  
Simulation Results ◽  
And Control

This paper discusses the modeling and control of a robotic manipulator with a new deburring tool, which integrates two pneumatic actuators to take advantage of a double cutting action. A coordination control method is developed by decomposing the robotic deburring system into two subsystems; the arm and the deburring tool. A decentralized control approach is pursued, in which suitable controllers were designed for the two subsystems in the coordination scheme. In simulation, three different tool configurations are considered: rigid, single pneumatic and integrated pneumatic tools. A comparative study is performed to investigate the deburring performance of the deburring arm with the different tools. Simulation results show that the developed robotic deburring system significantly improves the accuracy of the deburring operation.

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 Hybrid modeling and control of ICPT system with synchronous three-phase triple-parallel Buck converter

2020 ◽  
Vol 7 (1) ◽  
pp. 10-18
Author(s):  
Songcen Wang ◽  
Xiaokang Wu ◽  
Ying Yang ◽  
Cong Zhu ◽  
Zhen Wu ◽  
...  
Keyword(s):  
Coupling Coefficient ◽  
Control Method ◽  
Buck Converter ◽  
Constant Voltage ◽  
Modeling And Control ◽  
Coefficient Variation ◽  
Current Sharing ◽  
Voltage Output ◽  
Three Phase ◽  
And Control

AbstractAiming at the influence of coupling coefficient variation on the output voltage of a high-power LCC-S topology inductively coupled power transfer (ICPT) system, a synchronous three-phase triple-parallel Buck converter is used as the voltage adjustment unit. The control method for the three-phase current sharing of synchronous three-phase triple-parallel Buck converter and the constant voltage output ICPT system under the coupling coefficient variation is studied. Firstly, the hybrid model consisting of the circuit averaging model of the three-phase triple-parallel Buck converter and the generalized state-space average model for the LCC-S type ICPT system is established. Then, the control methods for three-phase current sharing of the synchronous three-phase triple-parallel Buck converter and constant voltage output of ICPT system are studied to achieve the multi-objective integrated control of the system. Finally, a 3.3 kW wireless charging system platform is built, the experimental results have verified the effectiveness of the proposed modeling and control method, and demonstrated the stability of the ICPT system.

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.

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