Automated Control and Optimisation of Overhead Cranes

2017 ◽  
Vol 7 (3) ◽  
pp. 41-68
Author(s):  
Ashwani Kharola ◽  
Pravin P. Patil
Keyword(s):  
Gantry Crane ◽  
Automated Control ◽  
Computing Technique ◽  
Fuzzy Controllers ◽  
Overhead Cranes ◽  
Triangular Shape ◽  
Simulink Model ◽  
Load Swing ◽  
Varying Mass ◽  
Load Mass

This study considers a fuzzy based computing technique for control and optimising performance of overhead gantry crane. The objective is to minimise load swing and stabilise crane position 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. 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.

Control Optimisation of Overhead Gantry Cranes via Fuzzy Controllers

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.

A Path-Planning Strategy for Overhead Cranes With High Hoisting Speed

2002 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
Path Planning ◽  
High Performance ◽  
Stability Theorem ◽  
Lyapunov Stability Theorem ◽  
Control Laws ◽  
Planning Strategy ◽  
Overhead Cranes ◽  
Time Control ◽  
Small Load ◽  
Load Swing

This paper proposes a path planning strategy for high-performance anti-swing control of overhead cranes, where the anti-swing control problem is solved as a kinematic problem. First, two anti-swing control laws, one for hoisting up and the other for hoisting down, are proposed based on the Lyapunov stability theorem. Then a new path-planning strategy is proposed based on the concept of minimum-time control and the proposed anti-swing control laws. The proposed path planning is free from the usual constraints of small load swing, slow hoisting speed, and small hoisting distance. The effectiveness of the proposed path planning is shown by computer simulation with high hoisting speed and hoisting ratio.

A New Trajectory-Generation Scheme for Overhead Cranes With High-Speed Load Hoisting

2004 ◽  
Author(s):  
Ho-Hoon Lee ◽  
Del Segura ◽  
Yi Liang
Keyword(s):  
High Speed ◽  
High Performance ◽  
Trajectory Generation ◽  
Control Law ◽  
Mathematical Tool ◽  
Lyapunov Stability Theorem ◽  
Overhead Cranes ◽  
Time Control ◽  
Load Swing ◽  
Generation Problem

This paper proposes a new trajectory-generation scheme for a high-performance anti-swing control of overhead cranes, where the trajectory-generation problem is solved as a kinematic problem. First, a new anti-swing control law is designed based on the load-swing dynamics, for which the Lyapunov stability theorem is used as a mathematical tool. Then a new trajectory-generation scheme is proposed based on the anti-swing control law and typical crane operation in practice. For g iven hoisting motions, trolley-traveling trajectory references are computed based on the concept of minimum-time control, and then anti-swing trajectories are generated based on the trajectory references through the anti-swing control law. The new trajectory-generation scheme generates a typical anti-swing trajectory in industry with high-speed load hoisting. The effectiveness of the proposed trajectory-generation scheme is shown by generating high-performance anti-swing trajectories with high hoisting speed and hoisting ratio.

scholarly journals Evaluation of Boat Lifting System Using A Multiple-Drum Winch

Kapal ◽  
2020 ◽  
Vol 17 (1) ◽  
pp. 7-14
Author(s):  
I Putu Sindhu Asmara ◽  
Hartono Yudo
Keyword(s):  
Material Handling ◽  
Wire Rope ◽  
Gantry Crane ◽  
Pulley System ◽  
Technical Aspects ◽  
Overhead Cranes ◽  
Two Factors ◽  
Small Craft ◽  
Technical Specifications ◽  
Lifting System

Material handling equipment is designed or selected based on two factors, the aspects of technical and economic. Technical aspects of a boatlift are designated by technical specifications that can meet with the need to lift and move a boat from land to waterway and vice versa. Boatlift is a type of Rubber Tyred Gantry crane specifically designed for moving of small craft, small and medium vessels with a capacity of 10 tons to 600 tons. Boatlift with a capacity of 5 tons is very rarely to find and very different from other types of cranes such as overhead cranes that are easy to find. Boatlift with a capacity of 5 tons can be found at the Shipbuilding Institute of Polytechnic Surabaya, but it has a weakness. The boats experience an un-synchronize movement during the lifting process. This article provides the design of a boatlift pulley system with a capacity of 5 tons using a multiple-drum winch and is capable of lifting the boat at an even keel condition. The evaluation was carried out on the existing system to find the cause of the problem. The correction on the pulley system of the boatlift has been recommended without the replacement of wire rope, brakes, motor, and the multiple-drum of the winch. The weaknesses of boat lifting could be overcome by using a pulley system 8/2/2/1-DeBe + spreader.

scholarly journals Dynamic modelling and analysis of 3D overhead gantry crane system

2018 ◽  
Vol 7 (3) ◽  
pp. 1257
Author(s):  
Khalil Azha Mohd Annuar ◽  
Nik Azran Ab. Hadi ◽  
Mohamad Haniff Harun ◽  
Mohd Firdaus Mohd Ab. Halim ◽  
Siti Nur Suhaila Mirin ◽  
...  
Keyword(s):  
Linear Model ◽  
Nonlinear Dynamic ◽  
Equations Of Motion ◽  
Dynamic Modelling ◽  
Gantry Crane ◽  
Nonlinear Dynamic Model ◽  
Simulation Results ◽  
And Performance ◽  
Heavy Loads ◽  
Load Swing

The overhead gantry crane systems are extensively used in harbours and factories for transportation of heavy loads. The crane speeding up, required for motion, always induces undesirable load swing. This writings present dynamic modelling of a 3D overhead gantry crane sys-tem based on closed-form equations of motion. By using the Lagrange technique, a 3D overhead gantry crane system nonlinear dynamic model is deriving. Then perform a linearization process to obtain a linear model dynamic system. Finally, simulation results systems re-sponses of the derived nonlinear and linear model are presented showing the accuracy and performance of both model.  

Gantry Crane Dynamic Modeling and Motion Control

2013 ◽  
Vol 419 ◽  
pp. 649-653
Author(s):  
Wen Zheng Du ◽  
Zheng Xie ◽  
Fei Lu ◽  
Yuan Cao
Keyword(s):  
Motion Control ◽  
Dynamic Modeling ◽  
Three Dimensional ◽  
Output Regulation ◽  
Gantry Crane ◽  
Control Scheme ◽  
Load Swing ◽  
Optimum Output

In this paper, a new anti-swing control scheme is proposed for a three dimensional gantry crane. The proposed control is based on linear two optimum output regulation technology. The proposed control guarantees not only prompt suppression of load swing but also accurate control of crane position for simultaneous travel, traverse, and hoisting motions of the crane. Furthermore, the proposed control provides practical gain tuning criteria for easy application. The effectiveness of the proposed control is shown by simulation with a three-dimensional gantry crane.

A Robust Anti-Swing Trajectory Control of Overhead Cranes With High-Speed Load Hoisting: Simulation Study

2009 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
High Speed ◽  
Trajectory Control ◽  
Design Tool ◽  
Sliding Surface ◽  
Tracking Errors ◽  
New Approach ◽  
Overhead Cranes ◽  
Control Scheme ◽  
The Stability ◽  
Load Swing

This paper proposes a new approach for the anti-swing trajectory control of overhead cranes that allows simultaneous high-speed load hoisting. The objective of this study is to design an anti-swing trajectory control scheme that is robust to unavoidable mechanical inaccuracies and installation errors such as locally sloped trolley rails. First, a coupled sliding surface is defined based on the load-swing dynamics, and then the stability of the coupled sliding surface is shown to be equivalent to that of trolley tracking errors. Next, a robust anti-swing trajectory control scheme, minimizing the coupled sliding surface asymptotically to zero, is designed based on the trolley and load-hoisting dynamics. Finally, the proposed control is extended to an adaptive scheme. In this study, the Lyapunov stability theorem is used as a mathematical design tool. The proposed control guarantees asymptotic stability of the anti-swing trajectory control while keeping all internal signals bounded. The proposed control provides a practical solution for the robustness problem caused by the usual mechanical inaccuracies and installation errors in application. The proposed control also provides clear gain-tuning criteria for easy application. The validity of the theoretical results is shown by computer simulation.

A Sliding-Mode Antiswing Trajectory Control for Overhead Cranes With High-Speed Load Hoisting

2006 ◽  
Vol 128 (4) ◽  
pp. 842-845 ◽  
Author(s):  
Ho-Hoon Lee ◽  
Yi Liang ◽  
Del Segura
Keyword(s):  
High Frequency ◽  
High Speed ◽  
Sliding Mode ◽  
Trajectory Control ◽  
Overhead Cranes ◽  
Damping Control ◽  
Control Scheme ◽  
Planning Scheme ◽  
Load Swing ◽  
High Frequency Sampling

In this paper we propose a sliding-mode antiswing control for overhead cranes. The objective of this study is to realize an antiswing trajectory control with high-speed load hoisting. A sliding-mode antiswing trajectory control scheme is designed based on the Lyapunov stability theorem, where a sliding surface, coupling the trolley motion with load swing, is adopted for a direct damping control of load swing. The proposed control guarantees asymptotic stability while keeping all internal signals bounded. In association with a new antiswing motion planning scheme, the proposed control realizes a typical antiswing trajectory control in practice, allowing high-speed load-hoisting motion and sufficient damping of load swing. The proposed control is simple for a real-time implementation with high-frequency sampling. The effectiveness of the proposed control has been confirmed by experiments.

Automatic Control and Simulation of an Overhead Crane’s Travel System

2016 ◽  
Vol 10 (4) ◽  
pp. 654-661 ◽  
Author(s):  
Xuyang Cao ◽  
◽  
Bo Zhang ◽  
Zhiyong Li ◽  
Binghan Xi ◽  
...  
Keyword(s):  
Control System ◽  
Control Variable ◽  
Grid Method ◽  
Variable Frequency ◽  
Overhead Crane ◽  
Slip Control ◽  
Overhead Cranes ◽  
Simulink Model ◽  
Level Of Automation ◽  
Soft Plc

A low level of automation, low accuracy of control, and high dependence on operator proficiency are general deficiencies of traditional overhead cranes. In order to improve the level of automation of overhead cranes, genetic algorithms and the grid method were applied to plan the global path of an overhead crane in a static environment. An automatic travel control system for an overhead crane was designed on the soft PLC platform CoDeSys. A slip control variable frequency regulating system was used to guarantee the accuracy of the travel system. A Simulink model of the slip control variable frequency regulating system was built with parameters optimized, and the control signal generated by the PLC was input into the model to conduct the simulation, which verified the feasibility of automation and the accuracy of the control system.

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