Modelling and Sway Control of a Double-Pendulum Overhead Crane System
Keywords:
Double-pendulum crane, Euler-Lagrange, Modelling, Simulation, Sway controlAbstract
A crane system is very important in industries as the system is used to transport a heavy load from one place to another. A double-pendulum type overhead crane system is very difficult to control as it suffers from payload sway and double-pendulum dynamics. These affect the system performance and the safety of the operation. This paper focuses on the mathematical modelling and sway control of a double-pendulum overhead crane system. The mathematical model of a double-pendulum overhead crane system is obtained through the Euler-Lagrange methods. The dynamic model is then verified through simulations and experiments. The simulation is carried out using the Simulink block diagram in MATLAB whereas the experiment is carried out using a laboratory overhead crane. Upon obtaining an accurate dynamic model of the double-pendulum overhead crane system, controllers based on input shaping are designed to improve the system performance.References
A. Karajgikar, J. Vaughan and W. Singhose, Double-pendulum crane operator performance comparing PD-feedback control and input shaping, Eccomas Thematic Conference, Brussels, Belgium, 2011.
D. Qian, S. Tong, B. Yang and S. Lee, Design of simultaneous input-shaping-based SIRMs fuzzy control for double-pendulum-type overhead cranes, Bulletin of the Polish Academy of Sciences Technical Sciences, 63(4), 887-896, 2015.
Guo Weiping, Liu Diantong, Yi Jianqiang and Zhao Dongbin, Passivity-based-control for double-pendulum-type overhead cranes, IEEE Region 10 Conference TENCON 2004, 546-549, 2004.
M. Kenison and W. Singhose, Input shaper design for double-pendulum planar gantry cranes, Proceedings of the 1999 IEEE International Conference on Control Applications, Hawaii, USA, 539-544, 1999.
J. Vaughan, E. Maleki and W. Singhose, Advantages of using command shaping over feedback for crane control, Proceedings of the 2010 American Control Conference, Baltimore, USA, 2308-2313, 2010.
M. Zhang, X. Ma, M. Rong, X. Tian and Y. Li, Adaptive tracking control for double-pendulum overhead cranes subject to tracking error limitation, parametric uncertainties and external disturbances, Mechanical Systems and Signal Processing, 76–77, 15-32, 2016.
J. Vaughan, D. Kim and W. Singhose, Control of tower cranes with double-pendulum payload dynamics, IEEE Transactions on Control Systems Technology, 18(6), 1345-1358, 2010.
D. Qian, S. Tong and S. Lee, Fuzzy-logic-based control of payloads subjected to double-pendulum motion in overhead cranes, Automation in Construction, 65, 133-143, 2016.
D. Kim and W. Singhose, Performance studies of human operators driving double-pendulum bridge cranes, Control Engineering Practice, 18(6), 567-576, 2010.
M.A. Ahmad, R.M.T. Raja Ismail, M.S. Ramli and N. Hambali, Investigations of NCTF with input shaping for sway control of a double-pendulum-type overhead crane. International Conference on Advanced Computer Control, Shenyang, China, 456-461, 2010.
J. Huang, Z. Liang and Q. Zang, Dynamics and swing control of double-pendulum bridge cranes with distributed-mass beams. Mechanical Systems and Signal Processing, 54–55, 357-366, 2015.
W. Singhose, D. Kim and M. Kenison, Input shaping control of double-pendulum bridge crane oscillations. Journal of Dynamic Systems, Measurement, and Control, 130(3), 034504, 2008.
W. O'Connor and H. Habibi, Gantry crane control of a double-pendulum, distributed-mass load, using mechanical wave concepts, Mechanical Science, 4, 251-261, 2013.
D. Kim and W. Singhose, Reduction of Double-Pendulum Bridge Crane Oscillations, The 8th International Conference on Motion and Vibration Control (MOVIC 2006), 27-30 August, Daejeon, Korea, 300-305, 2006.
W.E. Singhose and S.T. Towell, Double-pendulum gantry crane dynamics and control, Proceedings of the 1998 IEEE International Conference on Control Applications, Trieste, 1205-1209, 1998.
Kyung-Tae Hong, Chang-Do Huh and Keum-Shik Hong, Command shaping control for limiting the transient sway angle of crane system, International Journal of Control, Automation and Systems, 1(1), 43-52, 2003.
M.A. Ahmad, R.M.T.R. Ismail, M.S. Ramli, A.N.K. Nasir and N. Hambali, Feed-forward techniques for sway suppression in a double-pendulum-type overhead crane, International Conference on Computer Technology and Development, Kota Kinabalu, Malaysia, 173-178, 2009.
M.A. Ahmad, R.M.T. Raja Ismail, M.S. Ramli and N. Hambali, Comparative assessment of feed-forward schemes with nctf for sway and trajectory control of a DPTOC, International Conference on Intelligent and Advanced Systems, Kuala Lumpur, Malaysia, 1-6, 2010.
L. Ramli, Z. Mohamed, A.M. Abdullahi, H.I. Jaafar and I.M. Lazim, Control strategies for crane systems: a comprehensive review, Mechanical Systems and Signal Processing, 95, 1-23, 2017.
Z.N. Masoud and K.A Alhazza, Command-shaping control system for double-pendulum gantry cranes, ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Washington, USA, 367-375, 2011.
N. Sun, Y. Fang, H. Chen and B. Lu, Energy-based control of double pendulum cranes, IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER), Shenyang, China, 258-263, 2015.
X. Xie, J. Huang and Z. Liang, Vibration reduction for flexible systems by command smoothing, Mechanical Systems and Signal Processing, 39(1–2), 461-470, 2013.
Downloads
Published
How to Cite
Issue
Section
License
Authors who publish with this journal agree to the following terms:Authors hold and retain copyright, and grant the journal right of first publication, with the work after publication simultaneously licensed under a Creative Commons Attribution 4.0 License CC BY that permits any use, reproduction and distribution of the work and article without further permission provided that the original work is properly cited.
Authors are permitted and encouraged to post their work online in institutional repositories, website and other social media before and after publication, as it can lead to productive exchanges, as well as earlier and greater citation of published work.
