Energy-Based Approach for Controller Design of Overhead Cranes: A Comparative Study

2013 ◽  
Vol 365-366 ◽  
pp. 784-787 ◽  
Author(s):  
Nguyen Quang Hoang ◽  
Soon Geul Lee
Keyword(s):  
Closed Loop ◽  
Controller Design ◽  
Asymptotically Stable ◽  
Overhead Crane ◽  
Overhead Cranes ◽  
Swing Angle ◽  
Optimal Linear ◽  
Linear And Nonlinear ◽  
Invariance Theorem ◽  
Lyapunov Technique

In this paper, five controllers including linear and nonlinear ones for an underactuated overhead crane are derived based on the passivity of the system. The total energy of the system and its square are used in Lyapunov candidate function to design controllers. The equilibrium point of the closed loop is proven to be asymptotically stable by the Lyapunov technique and LaSalle invariance theorem. In addition, the optimal linear controller is also combined to force the swing angle to converge fast to zero by reaching destination of the trolley. Numerical simulations are carried out to evaluate the controllers.

scholarly journals An Anti-Swing Closed-Loop Control Strategy for Overhead Cranes

2018 ◽  
Vol 8 (9) ◽  
pp. 1463 ◽  
Author(s):  
Xianghua Ma ◽  
Hanqiu Bao
Keyword(s):  
Control Strategy ◽  
Closed Loop ◽  
Working Environment ◽  
Underactuated System ◽  
Closed Loop Control ◽  
Overhead Crane ◽  
Closed Loop System ◽  
External Disturbances ◽  
Loop Control ◽  
Swing Angle

The payload swing of an overhead crane needs to be controlled properly to improve efficiency and avoid accidents. However, the swing angle is usually very difficult to control to zero degrees or for it to even remain within an acceptable range because the overhead crane is a complex nonlinear underactuated system, especially when the actual working environment is accompanied by strong disturbances and great uncertainty. To resolve this, a real-time anti-swing closed-loop control strategy is proposed that considers external disturbances. The swing angle is measured in time and it functions with the load displacement as feedback inputs of the closed-loop system. The nonlinear model of the crane is simplified by a linear system with virtual disturbances, which are estimated by the equivalent input disturbance (EID) method. Both simulation and experimental results for a 2-D overhead crane system are investigated to illustrate the validity of the proposed method.

Application of LQR Techniques to the Anti-Sway Controller of Overhead Crane

2010 ◽  
Vol 139-141 ◽  
pp. 1933-1936 ◽  
Author(s):  
Bin Yang ◽  
Bin Xiong
Keyword(s):  
Closed Loop ◽  
Controller Design ◽  
Lagrange Equation ◽  
Linear Quadratic Regulator ◽  
Analytical Mechanics ◽  
Overhead Crane ◽  
Closed Loop System ◽  
Linear Quadratic ◽  
Weighting Matrix ◽  
Motion System

This paper explains and demonstrates how to design an anti-sway controller of overhead crane for eliminating pendulum of hook-headed. In this paper, we use Lagrange Equation in analytical mechanics to obtain a mathematical model of crane crab motion system. Then the paper comes up with a piece of new idea, i.e. applies linear quadratic regulator techniques to the anti-sway controller’ design of overhead crane. In order to make the designed linear optimal system meet the practical production requirements better, we use a parametric formula’s method of solutions to LQ inverse problems to obtain the weighting matrix Q. In fact, the method is simple and practical, and ensures the performance of closed-loop system is optimized. The paper will introduce the design steps of anti-sway controller of overhead crane and realization of anti-sway controller, which are new and original in this paper.

Controller Design for See-Saw Systems

2014 ◽  
Vol 898 ◽  
pp. 680-683
Author(s):  
Hai Yan Wang
Keyword(s):  
Control Theory ◽  
State Feedback ◽  
Closed Loop ◽  
Controller Design ◽  
The State ◽  
Feedback Controller ◽  
System Model ◽  
Asymptotically Stable ◽  
Closed Loop System ◽  
State Feedback Controller

The control theory has widely application in many fields such as industrial and agricultural. A class of see-saw system model will be studied in this paper. Using the theory of pole assignment, we will design the state feedback controller, such that the closed-loop system is asymptotically stable. At the same time, using the tool of MATLAB, the model of closed see-saw system will be simulated and analyzed. It reveals the state regularity of see-saw system.

Reference Trajectory Tracking of Overhead Cranes

1998 ◽  
Vol 123 (1) ◽  
pp. 139-141 ◽  
Author(s):  
Kamal A. F. Moustafa
Keyword(s):  
Stability Analysis ◽  
Trajectory Tracking ◽  
Control Strategy ◽  
Lyapunov Functions ◽  
Reference Trajectory ◽  
Asymptotically Stable ◽  
Overhead Cranes ◽  
Swing Angle ◽  
Angle Stability ◽  
Feedback Control Strategy

This paper addresses the automation problem of overhead cranes. A feedback control strategy is proposed so that the crane travel and hoisting or lowering motions are forced to track a given reference trajectory while killing the payload swing angle. Stability analysis is carried out using Lyapunov functions and it is shown that the equilibrium point of the crane system is asymptotically stable.

Mode-Based Controller Design for Hammerstein Models Using Closed-Loop Tranjent Response Data

2016 ◽  
Vol 136 (5) ◽  
pp. 625-632
Author(s):  
Yoshihiro Matsui ◽  
Hideki Ayano ◽  
Shiro Masuda ◽  
Kazushi Nakano
Keyword(s):  
Closed Loop ◽  
Controller Design ◽  
Response Data ◽  
Hammerstein Models

scholarly journals Robust H∞ Loop Shaping Controller Synthesis for SISO Systems by Complex Modular Functions

2021 ◽  
Vol 26 (1) ◽  
pp. 21
Author(s):  
Ahmad Taher Azar ◽  
Fernando E. Serrano ◽  
Nashwa Ahmad Kamal
Keyword(s):  
Design Methodology ◽  
Closed Loop ◽  
Complex Analysis ◽  
Controller Design ◽  
Filter Design ◽  
Design Procedure ◽  
Elliptic Functions ◽  
Loop System ◽  
Closed Loop System ◽  
Loop Shaping

In this paper, a loop shaping controller design methodology for single input and a single output (SISO) system is proposed. The theoretical background for this approach is based on complex elliptic functions which allow a flexible design of a SISO controller considering that elliptic functions have a double periodicity. The gain and phase margins of the closed-loop system can be selected appropriately with this new loop shaping design procedure. The loop shaping design methodology consists of implementing suitable filters to obtain a desired frequency response of the closed-loop system by selecting appropriate poles and zeros by the Abel theorem that are fundamental in the theory of the elliptic functions. The elliptic function properties are implemented to facilitate the loop shaping controller design along with their fundamental background and contributions from the complex analysis that are very useful in the automatic control field. Finally, apart from the filter design, a PID controller loop shaping synthesis is proposed implementing a similar design procedure as the first part of this study.

Impedance Reduction Controller Design for Mechanical Systems

2013 ◽  
Author(s):  
Hanseung Woo ◽  
Kyoungchul Kong
Keyword(s):  
Case Studies ◽  
Closed Loop ◽  
Controller Design ◽  
Mechanical Impedance ◽  
Open Loop ◽  
Mechatronic Systems ◽  
Closed Loop Systems ◽  
Guaranteed Stability ◽  
Reaction Forces ◽  
Definition Of

Safety is one of important factors in control of mechatronic systems interacting with humans. In order to evaluate the safety of such systems, mechanical impedance is often utilized as it indicates the magnitude of reaction forces when the systems are subjected to motions. Namely, the mechatronic systems should have low mechanical impedance for improved safety. In this paper, a methodology to design controllers for reduction of mechanical impedance is proposed. For the proposed controller design, the mathematical definition of the mechanical impedance for open-loop and closed-loop systems is introduced. Then the controllers are designed for stable and unstable systems such that they effectively lower the magnitude of mechanical impedance with guaranteed stability. The proposed method is verified through case studies including simulations.

The Swing Control of Cranes with Variable Rope Length Based on Linear Time Varying System Theory

2012 ◽  
Vol 461 ◽  
pp. 763-767
Author(s):  
Li Fu Wang ◽  
Zhi Kong ◽  
Xin Gang Wang ◽  
Zhao Xia Wu
Keyword(s):  
State Feedback ◽  
Closed Loop ◽  
Linear Time ◽  
Feedback Stabilization ◽  
Time Varying ◽  
Closed Loop System ◽  
Overhead Cranes ◽  
Time Varying Systems ◽  
Time Invariant ◽  
Time Invariant System

In this paper, following the state-feedback stabilization for time-varying systems proposed by Wolovich, a controller is designed for the overhead cranes with a linearized parameter-varying model. The resulting closed-loop system is equivalent, via a Lyapunov transformation, to a stable time-invariant system of assigned eigenvalues. The simulation results show the validity of this method.

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