Anti-sway Control for Cranes. Design and Implementation Using MATLAB ®

237 Pages·2018·12 MB·English

by  Dr. Dianwei Qian

DianweiQian
Anti-SwayControlforCranes
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Dianwei Qian
Anti-Sway Control
for Cranes
®
Design and Implementation Using MATLAB
Author
Dr.DianweiQian
NorthChinaElectricPowerUniversity
SchoolofControlandComputerEngin
No.2BeinongRoad
102206Beijing,China
[email protected]
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DianweiQian

Preface
Cranes are widely used in industrial environments due to their heavy payload cap-
abilities. Cranes exist in an enormous variety of forms. According to their primary
dynamicproperties,cranescanroughlybecategorizedintothreetypes,suchasover-
head cranes, boom cranes, and tower cranes. Among the three types of cranes, the
locationofthesuspensioncableconnectionpointofoverheadcranescanbedescribed
byaCartesiancoordinatesystem.InthisCartesianspace,theuseofoverheadcranes
suffersfromthenaturalswayofcranepayloads,whichisinherentlyapendulum-type
motion.
Takingsafetyandpositioningaccuracyintoconsideration,theswayhasadverse
effects on thecrane performance. Although skilled operators could eliminate much
of the sway by moving cranes in very small increments, such an operation must
degradethroughput.Thecontrolproblemofpendulum-typesystemsrisesuponac-
countofsomeperformancedemands,suchassmallpayloadsway,highsafety,high
positioningaccuracy,andshorttransportationtime.
Thecontrolproblemhasbecomeoneofthecentralresearchtopics.Mostofthe
previousworksinthisfieldconsiderthepayloadswayassingle-pendulumdynamics.
Suchconsiderationmayoriginatefromthemechanicalstructureofoverheadcranes.
Themechanicalstructureindicatesanoverheadcranethatconsistsoftrolley,hook,
andpayload.Inthecrane,acableishangedbelowthetrolley,thehookissupportedby
thecable,andthepayloadisattachedtothehookbysomeriggingcables.Assuming
thatthehookandpayloadaremodeledbyalumpedmasspoint,asimplifiedcrane
model could be drawn. The model suggests the crane behaves like a single pendu-
lum.Concerningthesingle-pendulumcranemodel,numeroustheoreticalstudiesand
practicalimplementationshavebeencarriedout.
However, the lumped-mass-point assumption does not always hold true. Under
some operating conditions, the hook and payload should be modeled by two dis-
tributed mass points rather than a lumped mass point. This distributed-mass-point
assumptionresultsindouble-pendulumdynamics.Thedouble-pendulumdynamics
compound two kinds of pendulum motions with different natural frequencies such
that those controllers designed to resist the single-pendulum oscillation are not as
effectiveasexpected.
Somecontroldesignsandapplicationshavebeenreportedtosuppressthedouble-
pendulum oscillations. These research results were previously scattered in many
journals and conference proceedings worldwide. This book methodically edits and
presentstheresearchresultsinaunifiedform.
The book consists of eight chapters. Each chapter concludes with appendices
aboutsimulationprograms.
Chapter1providessomenecessarybackgroundinformationaboutcranes,which
are the controlled plant in the book, and consequently, an introduction about the
types of cranes is also discussed. Then, a brief historical overview of crane control
DOI 10.1515/9783110520101-202
VIII Preface
since 2000 is considered. The history and the state-of-the-art research of both the
single-pendulum-typecranecontrolandthedouble-pendulum-typecranecontrolare
reviewedandpresented.Thechapterthenproceedswithsomeinsightsforbottleneck
issuesofcontrolandfutureresearchdirections.
Chapter 2 investigates the double-pendulum-type overhead crane dynamics via
Lagrangian mechanics. The double-pendulum-type motions of cranes include two
casessuchaslumped-masspayloadanddistributed-masspayload.Foreachcase,the
equationsofmotionarepresentedbymeansoftheEuler–Lagrangeequations.Since
thecranemodelsarepresentedundersomeidealassumptions,someuncertaintiesas-
sociatedwithrealapplicationsarediscussednext.Inaddition,thechapterproceeds
withtheanalysisofoscillationfrequenciesfordouble-pendulum-typemotionsbased
on the methodology of linearization. The analysis distils the essential properties of
double-pendulum-typemotions.
Chapter 3 focuses on the anti-sway control problem of double-pendulum-type
overhead cranes. The control method is passivity based. First, some basic concepts
aboutpassivityarepresented.Then,takingdouble-pendulum-typeoverheadcranes
intoaccount,thepassivitypropertyofsuchsystemsisinvestigated.Thesystemsta-
bility of the passivity-based control method is proven. Some simulation results are
illustrated to support the passivity-based anti-sway control. Finally, all the source
codesaredrawn.
Chapter 4 investigates the methodology of sliding mode for the anti-sway con-
trolproblemofdouble-pendulum-typeoverheadcranes.Themethodologyofsliding
modeisaclassofdesigntools,whichcontainssomebasicdesignmethodsandtheir
derivatives.Thischapterstartswithsomebasicconceptsaboutslidingmode.Then,
twoadvancedslidingmodemethods,suchasincrementalslidingmodecontroland
hierarchicalslidingmodecontrol,arepresentedfordouble-pendulum-typeoverhead
cranes. The stability analyses are also given in the sense of Lyapunov. Simulation
resultsareillustratedtosupportthesliding-mode-basedanti-swaycontrolmethods.
Finally,allthesourcecodesaredrawn.
Chapter5focusesonthemethodologyofoutputfeedbackfortheanti-swaycontrol
problemofdouble-pendulum-typeoverheadcranes.Inpractice,theangularvelocities
ofhookandpayloadareunavailableinmostcases.Suchapracticalissuecallsforthe
outputfeedback-basedcontroldesign.Thischapterstartswithsomebasicconcepts
about output feedback. Then, an output feedback-based controller is presented for
double-pendulum-type overheadcranes.Thestabilityanalysisisalsoproveninthe
senseofLyapunov.Simulationresultsareillustratedtosupportthecontrolmethod.
Finally,allthesourcecodesaregiven.
Chapter6exploresthemethodologyoffuzzylogicfortheanti-swaycontrolprob-
lemofdouble-pendulum-typeoverheadcranes.Concerningthecontrolapplications,
fuzzy-logic-basedcontrol(shortforfuzzycontrol)hasbeenproventobeeffectivefor
solvingunmodeleddynamics.However,fuzzycontrolneedsafuzzyinferencemodel
todeterminethefinalcontrolsignal.Inrealapplications,fuzzycontroloftensuffers
Preface IX
fromthedilemmaofexponentialruleexplosion.Fortunately,afuzzyinferencemodel
called single-input-rule modules (SIRMs) can overcome the dilemma by an ingeni-
ous structure. This chapter starts with some basic concepts about fuzzy logic and
fuzzycontrol.Then,aSIRM-basedfuzzycontrollerispresentedfordouble-pendulum-
typeoverheadcranes.Somesimulationresultsareillustratedtosupportthecontrol
method.Finally,allthesourcecodesarelisted.
Chapter7investigatesthemethodologyofinputshapingfortheanti-swaycontrol
problem of double-pendulum-type overhead cranes. Input shaping is an open-loop
control technology. It can implement its control action by intelligently shaping the
referencecommands.Themethodcaneffectivelycancelmotion-inducedoscillations.
Inherently,themethodisafeed-forwardtechnique.Inrealapplications,itishardto
resistanyerrorwithoutspecialdesign.Inordertodealwiththeseissues,thischapter
startswithsomebasicconceptsaboutinputshaping.Onesimultaneousinputshaper
is designed to overcome the double-pendulum oscillations. Meanwhile, one classic
convolvedinputshaperisillustratedasacomparison.Then,thesimultaneousinput
shaperintegratedwithaSIRM-basedfuzzycontrollerisexploredforthetransportcon-
trolproblemofdouble-pendulum-typeoverheadcranes.Somesimulationresultsare
illustratedtosupportthehybridcontroldesign.Finally,allthesourcecodesarelisted.
Chapter 8 presents preliminary results on the anti-sway control development
andapplicationfordouble-pendulum-typeoverheadcranes,drawssomeconcluding
remarks,andsummarizesopenproblemsforfutureresearch.
Appendix provides a software program that integrates all the methods of the
book.Thesoftwareisuser-friendly,designedbygraphicaluserinterface.Itcanhelp
beginnersunderstandandmastertheanti-swaycontrolofdouble-pendulummotions.
Thebookcanbeusedforteachingagraduate-levelspecial-topicscourseincontrol
applications.
Inthisbook,allthecontrolalgorithmsandtheirprogramsaredescribedsepar-
atelyandclassifiedbythechaptername,whichcanberunsuccessfullyinMATLAB
7.5.0.342 version or in other more advanced versions. If you have questions about
algorithms and simulation programs, please feel free to contact Dianwei Qian by
E-mail:[email protected].
DianweiQian
Beijing