Enhanced-coupling-based Tracking Control of Double Pendulum Gantry Cranes

다국어 초록 (Multilingual Abstract)

Gantry cranes are mostly regarded as single pendulum models to research. However, gantry cranes will produce a double pendulum effect during the actual operation when the hook mass or cable length between the load and hook cannot be ignored. Aiming at the problems of working inefficiency, poor positioning accuracy and violent hook/load swing during the lifting process of gantry cranes, an enhanced-coupling-based tracking control method is proposed. By referring to a smooth tracking trajectory, the proposed method ensures that the trolley runs steadily. And by combining with the passivity analysis of the gantry crane system, a coupling signal, which enhances the relationship between system variables, is constructed. The system stability is proved strictly by Barbarat theorem and Lyapunov method. Experiments and simulations are performed to demonstrate the feasibility of the proposed method. The final results reflect that the proposed method, which can not only ensure the precise positioning of the trolley, but also restrain and eliminate the system swings promptly, has excellent control performance. When the system parameters are changed or external disturbances are added, the proposed method can also obtain outstanding control performance and has excellent robustness. Not only does the proposed method provide an antiswing strategy for double pendulum underactuated gantry cranes, but also it provides a possibility for the research and development of the automatic driving of gantry cranes, which has great practical significance and application prospects.

참고문헌 (Reference)

1 N. Sun, "Transportation control of double-pendulum cranes with a nonlinear quasi-PID scheme: Design and experiments" 49 (49): 1408-1418, 2019

2 D. Chwa, "Sliding-mode-control-based robust finite-time antisway tracking control of 3-D overhead cranes" 64 (64): 6775-6784, 2017

3 D. Chwa, "Sliding-mode-control-based robust finite-time antisway tracking control of 3-D overhead cranes" 64 (64): 6775-6784, 2017

4 H. T. Shi, "Research on nonlinear coupling anti-swing control method of double pendulum gantry crane based on improved energy" 11 (11): 1511-, 2019

5 H. T. Shi, "Research on nonlinear control method of underactuated gantry crane based on machine vision positioning" 11 (11): 987-, 2019

6 A. T. Le, "Partial feedback linearization control of the three dimensional overhead crane" 11 (11): 718-727, 2013

7 A. T. Le, "Partial feedback linearization and sliding mode techniques for 2D crane control" 36 (36): 78-87, 2014

8 N. Sun, "Nonlinear tracking control of underactuated cranes with load transferring and lowering:Theory and experimentation" 50 (50): 2350-2357, 2014

9 N. Sun, "Nonlinear stabilizing control for ship-mounted cranes with ship roll and heave movements: Design, analysis, and experiments" 48 (48): 1781-1793, 2018

10 N. Sun, "Nonlinear output feedback control of flexible cable crane systems with state constraints" 7 : 136193-136202, 2019

11 X. Wu, "Nonlinear energy-based regulation control of three-dimensional overhead cranes" 14 (14): 1297-1308, 2017

12 H. Chen, "Nonlinear control of underactuated systems subject to both actuated and unactuated state constraints with experimental verification" 67 (67): 7702-7714, 2020

13 N. Sun, "Nonlinear antiswing control for crane systems with double-pendulum swing effects and uncertain parameters: Design and experiments" 15 (15): 1413-1422, 2018

14 H. K. Khalil, "Nonlinear Systems" Prentice Hall 2002

15 M. H. Zhang, "Modeling and energy-based fuzzy controlling for underactuated overhead cranes with load transferring, lowering, and persistent external disturbances" 9 (9): 168781401772008-, 2017

16 Z. Wu, "Model predictive control for improving operational effificiency of overhead cranes" 79 (79): 2639-2657, 2015

17 H. J. Peng, "Interval estimation and optimization for motion trajectory of overhead crane under uncertainty" 96 (96): 1693-1715, 2019

18 M. H. Zhang, "Finite-time model-free trajectory tracking control for overhead cranes subject to model uncertainties, parameter variations and external disturbances" 41 (41): 1-10, 2019

19 A. Elharfi, "Exponential stabilization and motion planning of an overhead crane system" 34 (34): 1299-1321, 2017

20 B. Lu, "Enhanced-coupling adaptive control for double pendulum overhead cranes with payload hoisting and lowering" 101 : 241-251, 2019

21 H. Wei, "Cooperative control of a nonuniform gantry crane with constrained tension" 66 : 146-154, 2016

22 L. Ramli, "Control strategies for crane systems: A comprehensive review" 95 : 1-23, 2017

23 B. Lu, "Continuous sliding mode control strategy for a class of nonlinear underactuated systems" 63 (63): 3471-3478, 2018

24 A. T. Le, "Combined control with sliding mode and partial feedback linearization for 3D overhead cranes" 24 (24): 3372-3386, 2014

25 M. H. Zhang, "Bioinspired nonlinear dynamics-based adaptive neural network control for vehicle suspension systems with uncertain/unknown dynamics and input delay" 68 (68): 12646-12656, 2021

26 X. Li, "Anti-swing control for 2-D under-actuated cranes with load hoisting/lowering: A coupling-based approach" 95 : 372-378, 2019

27 Menghua Zhang ; Yongfeng Zhang ; Xingong Cheng, "An Enhanced Coupling PD with Sliding Mode Control Method for Underactuated Double-pendulum Overhead Crane Systems" 제어·로봇·시스템학회 17 (17): 1579-1588, 2019

28 N. Sun, "Amplitudesaturated nonlinear output feedback antiswing control for underactuated cranes with double-pendulum cargo dynamics" 64 (64): 2135-2146, 2017

29 M. H. Zhang, "Adaptive tracking control for double pendulum overhead cranes subject to tracking error limitation, parametric uncertainties and external disturbances" 76-77 : 15-32, 2016

30 N. Sun, "Adaptive nonlinear crane control with load hoisting/lowering and unknown parameters: Design and experiments" 20 (20): 2107-2119, 2015

31 M. H. Zhang, "Adaptive neural network tracking control for double-pendulum tower crane systems with nonideal inputs" 52 (52): 2514-2530, 2022

32 N. Sun, "Adaptive antiswing control for cranes in the presence of rail length constraints and uncertainties" 81 (81): 41-51, 2015

33 T. L. Wang, "A time-varying sliding mode control method for distributed-mass double pendulum bridge crane with variable parameters" 9 : 75981-75992, 2021

34 H. Chen, "A swing constraint guaranteed MPC algorithm for underactuated overhead cranes" 21 (21): 2543-2555, 2016

35 M. H. Zhang, "A novel energy-coupling-based control method for double pendulum overhead cranes with initial control force constraint" 10 (10): 1-13, 2018

36 H. Chen, "A new overhead crane emergency braking method with theoretical analysis and experimental verification" 98 (98): 2211-2225, 2019

37 F. Li, "A minimum-time motion online planning method for underactuated overhead crane systems" 7 : 54586-54594, 2019

38 H. Mohamed, "A hybrid partial feedback linearization and deadbeat control scheme for a nonlinear gantry crane" 355 (355): 6286-6299, 2018

39 Z. Masoud, "A hybrid command-shaper for double pendulum overhead cranes" 20 (20): 24-37, 2014

40 M. H. Zhang, "A bioinspired dynamics-based adaptive fuzzy SMC method for half-car active suspension systems with input dead zones and saturations" 51 (51): 1743-1755, 2021

41 Slim Frikha ; Mohamed Djemel ; Nabil Derbel, "A New Adaptive Neuro-sliding Mode Control for Gantry Crane" 제어·로봇·시스템학회 16 (16): 559-565, 2018