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Super-twisting Sliding Mode Control of Container Cranes With Triangle-trapezoid Rope Reeving System
Mingxu Piao,Keum-Shik Hong,Muhammad Umer Hameed Shah,Guanghao Huang 제어·로봇·시스템학회 2024 International Journal of Control, Automation, and Vol.22 No.1
In this paper, the dynamics of a new type of container crane, in which eight ropes connect the trolley and spreader in a triangle-trapezoid shape, is developed. The triangle-trapezoid cable configuration for connecting the spreader with the trolley is introduced to reflect the dynamic aspects of the multi-rope reeving system. A supertwisting sliding mode control for the developed model is designed for accurate trolley position control and vibration suppression of the load. Due to its robustness property against external disturbance, satisfactory control performance is achieved. Finally, experimental results to validate the developed model and simulation results to verify the control algorithm are also provided in this study.
Modeling and Residual Vibration Control of a Quayside Container Crane
Mingxu Piao,Umer Hameed Shah,Sang-Hei Choi,Keum-Shik Hong 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
This paper discusses the mathematical modeling and residual vibration control problem of a quayside container crane, which is one of the automated handling equipment for containers at a seaport. The main purpose of the quayside crane is the safe loading and un-loading of the container ships in quick time. The residual vibrations of the transported containers cause operational delays and therefore must be suppressed, which can be achieved by implementing an appropriate control strategy. Generally, the control strategies are based on a simplified model of a conventional container crane (i.e., assuming a single-rope hoisting mechanism). However, in this paper, we have derived the mathematical model of the quayside crane based on the actual (i.e., multi-rope) hoisting mechanism. An open-loop control is then applied to generate shaped trolley-drive commands to transport the containers to the desired locations while suppressing their residual vibrations. Furthermore, a closed loop control is also developed to suppress the vibrations of the containers due to initial conditions and disturbances. The validity of the proposed control laws has been demonstrated by performing simulations.
박명욱(Mingxu Piao),김경한(Gyoung-Hahn Kim),홍금식(Keum-Shik Hong) 제어로봇시스템학회 2018 제어·로봇·시스템학회 논문지 Vol.24 No.10
In this paper, a super-twisting (i.e., modified 2nd-order) sliding mode control (STSMC) is proposed for sway control of an offshore container crane system (i.e., a mobile harbor system equipped with a container crane on it). The mobile harbor is used for ship-to-ship transfer of containers, where the container ship is anchored in an open sea. To load/unload the containers in an open sea, it is necessary to suppress the position error of the load caused by the wave-induced movements of the mobile harbor. In this paper, a super-twisting sliding mode controller is developed for suppressing the position error of the payload. The sliding surface is designed in such a way that the longitudinal sway of the load is incorporated within the trolley dynamics. The chattering problem is also solved by utilizing a second order sliding surface. Lyapunov function-based stability analysis is performed to prove the uniform stability of the closed-loop system. Simulation results are provided to prove the effectiveness of the proposed control law.
입력성형기법을 이용한 핵연료이송시스템의 수중이동 시의 진동제어
박명욱(Mingxu Piao),샤 우머 하미드(Umer Hameed Shah),전재영(Jae Young Jeon),홍금식(Keum-Shik Hong) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.4
In this paper, residual sway control of objects that are moved underwater is investigated. The fuel transfer system in a nuclear power plant transfers the nuclear fuel rods underwater. The research on the dynamics of the loads transferred in different mediums (water and air) and their control methods have not been fully developed yet. The attenuation characteristics of the fuel transfer system have been studied to minimize its residual vibration by considering the effects of hydrodynamic forces acting on the fuel rod. First, a mathematical model is derived for the underwater fuel transfer system, and then experiments have been conducted to study the dynamic behavior of the rod while it travels underwater. Lastly, the residual vibration at the end point is minimized using the input shaping technique.
Input Shaping 기술을 이용한 핵연료이송시스템의 수중이동 시의 진동제어
박명욱(Mingxu Piao),샤 우마 하미드(Umer Hameed Shah),전재영(Jae Young Jeon),홍금식(Keum-Shik Hong) 제어로봇시스템학회 2013 제어로봇시스템학회 각 지부별 자료집 Vol.2013 No.8
핵연료이송장치는 원자력발전소에서 사용되는 핵연료봉을 이송하는 장비로써, 핵연료의 특성상 그 이동이 수중에서 이루어져야 한다. 현재까지 대기(大氣) 상태에서의 화물이송에 관한 이론 및 시스템은 오랫동안 연구되어 왔으나 매질(수중 혹은 대기중)에 따른 이송장치의 동특성 및 최적제어에 관한 연구는 활발히 이루어 지지 않고 있다. 본 논문은 물속의 저항성분을 고려하여 마스트의 진동을 줄이기 위해 핵연료이송장치의 구동시스템을 파악하고자 하였다. 먼저, 수중 이송시스템의 수학적 모델을 구축하였다. 그리고 수조실험을 통해서 시스템 수평운동 시 발생하는 진동을 해석을 하였다. 마지막으로 연료봉의 진동을 줄이기 위해 Input Shaping 방법을 적용하고, 이에 따른 시간최적제어를 유도하였다.
박명욱(Mingxu Piao),김경한(Gyoung-Hahn Kim),Umer Hameed Shah,홍금식(Keum-Shik Hong) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.6
This paper discusses the dynamics and control problem of an overhead shuttle system (OSS), which is a critical part of the automated container terminal at a port. The main purpose of the OSS is efficient automated transport function of containers, which also requires high precision and safety. A major difference between the OSS and the conventional container crane is the configuration of the cables for hoisting the spreader. A mathematical model of the OSS is developed here for the first time, which results in an eight-pole system. Also, open loop control methods (trapezoidal and notch-type velocity profiles) are investigated so that the command input to the overhead shuttle produces the minimum possible sway of the payload. Simulation results show that the vibration suppression capability of the OSS is superior to the conventional overhead container crane, which is partially due to the cable configuration.
Anugrah K. Pamosoaji,Mingxu Piao,홍금식 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.10
This paper discusses a particle swarm optimization (PSO)-based motion-planning algorithm in a multiple-vehicle system that minimizes the traveling time of the slowest vehicle by considering, as constraints, the radial and tangential accelerations and maximum linear velocities of all vehicles. A class of continuous-curvature three-degree Bezier curves are selected as the basic shape of the vehicle trajectories to minimize the number of parameters required to express them mathematically. In addition, velocity profile generation using the local minimum of the radial-accelerated linear velocity profile, which reduces the calculation effort, is introduced. A new PSO-based search algorithm, called “particle-group-based PSO,” is introduced to find the best combination of trajectories that minimizes the traveling time of the slowest vehicle. A particle group is designed to wrap up a set of particles representing each vehicle. The first and last two control points characterizing a curve are used as the state vector of a particle. Simulation results demonstrating the performance of the proposed method are presented. The main advantage of the proposed method is its minimization of the velocity-profile-generation time, and thereby, its maximization of the search time.
Dynamic Response of an Under-water Fuel Transfer System
Umer Hameed Shah,Mingxu Piao,Jae Young Jeon,Keum-Shik Hong 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
This paper discusses the dynamic response of a fuel transfer system that is supposed to transport fuel rods under-water. The under-water fuel transfer system is usually utilized in the process industry and in deep sea for oil transportation from the exploration sites. In both the cases fuel transfer system is exposed to environmental disturbances which define its dynamic response and are detrimental to system’s performance. It is therefore, necessary to study the dynamic response of such a system for its desired application. This paper discusses the problem of studying the dynamic response of a fuel carrying rod that travels along a straight path from one position to another with maximum speed so that, when it reaches the desired position, there is minimal residual vibration (sway). A mathematical model is derived for the system, considering the effects of hydrodynamic forces acting on the fuel carrying rod. An experiment is also conducted to study the dynamic behavior of the rod while it travels under-water and the residual vibrations (sway) at the end point are suppressed using the input shaping technique.
Residual Vibration Suppression of an Under-water Fuel Transport System
Umer Hameed Shah,Mingxu Piao,Jae Young Jeon,Keum-Shik Hong 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
This paper discusses the residual vibration suppression problem of a nuclear fuel transport system (FTS). The FTS is supposed to transport the fuel rods under-water to the desired locations within the plant in the minimum possible time. It has been observed that the rods oscillate at the end of such brisk maneuvers causing an undesirable delay in the operation, and affecting the system’s performance in terms both of productivity and of safety. In this case, input shaping can be used to generate shaped command profiles to transport the rods to the target position with minimum residual vibrations, however, due to the under-water maneuver the process becomes damped and input shaping becomes ineffective. Recently, a modified shaped command has been proposed based on the zero vibration (ZV) shaper, which effectively suppresses the rod’s residual vibrations in the presence of the hydrodynamic forces. In this paper, the said command is experimentally investigated with variations in its structure in order to get an insight into its capability of suppressing residual vibrations effectively.