Dynamics and control of cranes: A review (original) (raw)
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Control strategies for crane systems: A comprehensive review
Mechanical Systems and Signal Processing, 2017
Crane systems are tremendously utilised in numerous heavy load transportation industries, and therefore, the control of crane systems is a well-established research field. As the last review paper was published more than a decade ago, there is a lack of collected and organised information regarding the latest and the newest updates on control strategies for crane control systems. Hence, this paper presents a comprehensive review of crane control strategies discussing the latest research works during the years from 2000 to 2016. Various crane types and control issues are highlighted, followed by the main focus of this paper, an extensive review of the control schemes for diverse types of crane systems that have been carried out in the 21st century. A brief review on modelling of single-pendulum and double-pendulum crane systems is also given. In addition, anti-sway control systems for industrial cranes that are available on the market is described. This paper summarises most of the related work and also pays a special focus on research trends regarding the control of crane systems that have been previously published in the literature. It is envisaged that this review paper will be helpful to new researchers when identifying research directions for this particular area of interest.
MODELLING AND LINEAR CONTROL OF THE CRANE
This article deals with a modelling of an overhead crane system with a DC drive. There is assumed the linear crane system in this article. System is described by mechanical equations and the model of the system is designed. In the second part of the article the proposal of state-space controller is described. The modeling of the system is executed in Matlab-Simulink.
Control study with a pilot crane
IEEE Transactions on Education, 1990
Abstraet-Computer control of crane operations has been studied in Helsinki University of Technology since 1981, theoretically and experimentally using a pilot scale gantry crane instrumented with new types of sensors. Many classical and modern methods of identification and control have been tested by simulations and experiments, which have given a sound basis for different laboratory exercises. The pilot crane system is a comprehensive and an illustrative environment for studying identification of dynamical systems, for designing controllers of different complexity and for analyzing the behavior of mechanical systems. In this paper we are not describing any specific laboratory exercises, but rather describing the environment and the applications related to the educational purposes.
Rapid Prototyping of Overhead Crane Dynamics for Operation Use
2005
The paper is presenting modelling approach oriented to overhead travelling cranes dynamics for the needs of exploitation studies. The subject of the article comprises building and some selected exploitation studies on the overhead crane carried out on the model in virtual environment for the needs of evaluating the technical state of the device.
A Set of Control Experiments on an Overhead Crane Prototype
International Journal of Electrical Engineering Education, 1999
A set of real-time control experiments applied to a non-linear system is presented. The system is an overhead crane and the experiments are applied on a low-cost scale model of it. This paper tries to compare the performance of both classical and intelligent control techniques applied to this plant.
Model-Based Development of Control Systems for Forestry Cranes
Journal of Control Science and Engineering
Model-based methods are used in industry for prototyping concepts based on mathematical models. With our forest industry partners, we have established a model-based workflow for rapid development of motion control systems for forestry cranes. Applying this working method, we can verify control algorithms, both theoretically and practically. This paper is an example of this workflow and presents four topics related to the application of nonlinear control theory. The first topic presents the system of differential equations describing the motion dynamics. The second topic presents nonlinear control laws formulated according to sliding mode control theory. The third topic presents a procedure for model calibration and control tuning that are a prerequisite to realize experimental tests. The fourth topic presents the results of tests performed on an experimental crane specifically equipped for these tasks. Results of these studies show the advantages and disadvantages of these control algorithms, and they highlight their performance in terms of robustness and smoothness.
Status of Smart Crane Lab Project: Modeling and Control for a Forwarder Crane
2008
The report suggests a short overview of the status of the project to June 2008. The project itself is focused on developing kinematic and dynamic models for a crane commonly used in the forestry and mining applications. Based on these models we plan motions of a crane and suggest feedback controllers for their stabilization. Short description of the system, challenges to control the crane, the performed experimental studies and of the proposed algorithms is followed by the collection of copies of the papers published within the project in 2007-2008.
Modelling and energy based nonlinear control of crane lifters
IEE Proceedings - Control Theory and Applications, 2002
A nonlinear dynamic model for a crane lifter system is derived using the Lagrangian method. The developed dynamic model has two inputs and four outputs. Several properties of the model such as passivity are presented. An energy based nonlinear control scheme is then proposed for the system. The developed scheme guarantees the asymptotic convergence of the trolley position and the hoist position to their desired values. However, the hoist and the load sway angles will either converge to zero or towards a stable trajectory. To ensure that the hoist and the load sway angles always converge to zero, a linear state feedback controller is used in conjunction with the nonlinear control scheme. The derived model and the control scheme are simulated using a digital computer; the simulation results illustrate the theoretical developments very well.
Dynamic behavior of the lifting crane mechanism
Mechanism and Machine Theory, 1995
In the present paper the motion of a lifting mechanism of crane is considered. The unloading procedure is analyzed when the mass of the mechanism is varying. Due to the mass variation a reactive force appears. The influence of the reactive force on the motion of the system is investigated. The mechanical model of the mechanism is a simple pendulum with the variable mass and length. Some special cases are considered: (i) the relative mass variation rate is constant; (ii) the damping is varying and the relative length variation rate is constant and the wind force is present. The values of mechanism parameters, for which beside the regular also nonregular motion may appear, are obtained. The method of Melnikov is applied.
DAAAM Proceedings, 2016
This paper deals with modeling and simulation of Hydraulic crane for load lifting in order to determine its dynamics, methods for lifting control and minimization of oscillations. The proposed procedure is modelling of crane with method of schematic design with inerconnected elements that represents crane parts, and its 3-d visualization. Simulations will be planned and applied for lifting motion of Crane's Boom with hangind load. Dynamic analysis will be carried through simulations and solution of Euler differential equations of second order. Diagrams with results of main dynamic and kinematic parameters will be presented for main parts of crane as the solution results of the analyzed system. Based on these results conclusions will be presented. The aim is to find optimal lifting control process and dynamic behavior of crane which is important for motion planning, failure analysis and safety during work. Analysis will be done using modeling and simulations with computer application MapleSim.