In this paper, an adaptive proportional-derivative sliding mode control(APD-SMC) law, is proposed for 2D underactuated overhead crane systems. The proposed controller has the advantages of simple structure, easy to im...In this paper, an adaptive proportional-derivative sliding mode control(APD-SMC) law, is proposed for 2D underactuated overhead crane systems. The proposed controller has the advantages of simple structure, easy to implement of PD control, strong robustness of SMC with respect to external disturbances and uncertain system parameters, and adaptation for unknown system dynamics associated with the feedforward parts. In the proposed APD-SMC law, the PD control part is used to stabilize the controlled system, the SMC part is used to compensate the external disturbances and system uncertainties,and the adaptive control part is utilized to estimate the unknown system parameters. The coupling behavior between the trolley movement and the payload swing is enhanced and, therefore, the transient performance of the proposed controller is improved.The Lyapunov techniques and the La Salle's invariance theorem are employed in to support the theoretical derivations. Experimental results are provided to validate the superior performance of the proposed control law.展开更多
This paper presents fuzzy-based design for the control of overhead crane. Instead of analyzing the complex nonlinear crane system, the proposed approach uses simple but effective way to control the crane. There are tw...This paper presents fuzzy-based design for the control of overhead crane. Instead of analyzing the complex nonlinear crane system, the proposed approach uses simple but effective way to control the crane. There are twin fuzzy controllers which deal with the feedback information, the position of trolley crane and the swing angle of load, to suppress the sway and accelerate the speed when the crane transports the heavy load. This approach simplifies the designing procedure of crane controller; besides, the twin controller method reduces the rule number when fulfilling the fuzzy system. Finally, experimental results through the crane model demonstrate the effectiveness of the scheme.展开更多
This paper is about the application of PLC (Model S5 135U made by Siemens) in the overhead crane.It is mainly about the working principles and application of PLC Model S5 135U.
This paper presents a case study on the repair of a mechanical component of an overhead crane.The problem was initially identified through on-site inspection and analysis of the crane’s performance.The mechanical par...This paper presents a case study on the repair of a mechanical component of an overhead crane.The problem was initially identified through on-site inspection and analysis of the crane’s performance.The mechanical part was found damaged,leading to safety concerns and operational inefficiencies.The paper details the process of diagnosing the issue,developing a repair plan,and executing the repair work.The repair plan involved replacing the damaged component with a new one and conducting additional maintenance work to ensure optimal performance.The paper also discusses the outcomes of the repair work,which led to improved safety and increased efficiency of the overhead crane.The case study provides insights into the importance of regular maintenance and on-site inspections in ensuring the safe and efficient operation of mechanical systems.展开更多
Reducing the effects of external disturbance on overhead crane systems is crucial,as they can impair the controller performance and cause excessive vibrations or oscillations of the payloads.One such external disturba...Reducing the effects of external disturbance on overhead crane systems is crucial,as they can impair the controller performance and cause excessive vibrations or oscillations of the payloads.One such external disturbance is the inclination of the supporting track of the crane trolley,which causes the system dynamics model to change.An open-loop control strategy is widely utilized to control the payload sway motion and generally does not require any alterations in the physical structure of a system or the installation of sensors and/or actuators.Input and command shaping are two common open-loop control techniques applied to control overhead cranes.In this paper,the effect of moving an overhead crane system along an inclined supporting track is investigated.In addition,the ability of different types of input-and command-shaping control schemes to suppress the residual vibrations due to trolley track inclination is demonstrated.Two types of input-shaping controllers,which are double-step,zero vibration,and one command waveform(WF)shaper based on a trigonometric function,are used and tested.A linear equation of motion of the overhead crane resting on an inclined surface is developed to simulate the overhead crane and payload motion.The effectiveness of the different types of open-loop controllers to suppress residual vibrations is verified by both simulation and experimental results.In addition,a new WF command shaper is proposed and designed to overcome track inclination while eliminating payload residual vibration.A comprehensive comparative analysis,both numerically and experimentally,is performed on the new proposed shaper to measure its effectiveness in handling inclination when compared to other types of open-loop controllers.The new shaper outperforms other controllers in eliminating payload residual vibration for a wider range of inclination angles.展开更多
In this paper, a new adaptive hierarchical sliding mode control scheme for a 3D overhead crane system is proposed. A controller is first designed by the use of a hierarchical structure of two first-order sliding surfa...In this paper, a new adaptive hierarchical sliding mode control scheme for a 3D overhead crane system is proposed. A controller is first designed by the use of a hierarchical structure of two first-order sliding surfaces represented by two actuated and un-actuated subsystems in the bridge crane. Parameters of the controller are then intelligently estimated, where uncertain parameters due to disturbances in the 3D overhead crane dynamic model are proposed to be represented by radial basis function networks whose weights are derived from a Lyapunov function. The proposed approach allows the crane system to be robust under uncertainty conditions in which some uncertain and unknown parameters are highly difficult to determine. Moreover, stability of the sliding surfaces is proved to be guaranteed. Effectiveness of the proposed approach is then demonstrated by implementing the algorithm in both synthetic and reallife systems, where the results obtained by our method are highly promising.展开更多
A model based damage identification was proposed by facilitating parameter sensitivity analysis and applied to a general overhead travelling crane.As updating reference data,experimental modal frequency was obtained b...A model based damage identification was proposed by facilitating parameter sensitivity analysis and applied to a general overhead travelling crane.As updating reference data,experimental modal frequency was obtained by operational modal analysis(OMA)under ambient excitation.One dimensional damage function was defined to identify the damage by bending stiffness.The results showed that the model updating method could locate the damage and quantitatively describe the structure.The average error of eigenvalues between updated model analysis and the experimental results was less than 4% which proved the accuracy reliable.The comparison of finite element analysis and the test results of the deflection under the capacity load further verified the feasibility of this method.展开更多
A significant negative aspect in the operation of bridge-type cranes are the technical problems associated with wear of the wheels and the crane track,which causes crane skewing.The main causes of crane skewing includ...A significant negative aspect in the operation of bridge-type cranes are the technical problems associated with wear of the wheels and the crane track,which causes crane skewing.The main causes of crane skewing include unevenness of the crane track,unequal loading of the traction drives depending on the position of the crane trolley,slips and different sizes of travel wheels and combinations of these causes.Firstly,this paper presents a design solution that can be used to detect the magnitude of mechanical stress and deformation of the steel structure of the crane,caused by the effects of skewing.The mechanical stress generated by the transverse forces of the deformed geometric shape of the crane bridge structure is recorded by mechanical stress detectors installed in the inner corners of the crane bridge.The resulting electrical signal from element mechanical voltage detectors,loaded by axial forces,can be used for feedback control of separate crane travel drives controlled by frequency converters.Secondly,this paper presents the calculation of the lateral transverse forces according to CSN 270103 and the determination of the values of mechanical stresses of the deformed steel structure of the crane bridge of a two-girder bridge crane using the finite element method in the program MSC.MARC 2019.Finally,this paper presents the structural and strength design of mechanical stress detectors and the conclusions of laboratory tests of axial force loading of mechanical stress detectors on the test equipment.At the same time,it presents records of the measured axial forces acting in the mechanical stress detectors,arising from the deformation and warping of the crane bridge by the known magnitude of the axial force acting on the crossbeam and from the deformation of the crane bridge caused by the crane operating modes.展开更多
针对目前基于视觉的桥式起重机负载摆角测量方法实时性较低,且没有考虑由运动模糊导致的测量精度下降问题,将一个对旋转和倾斜不敏感的球形标识物安装在负载上,设计一种计算灰度概率分布特征余弦相似度的方法,结合卡尔曼滤波器实时跟踪...针对目前基于视觉的桥式起重机负载摆角测量方法实时性较低,且没有考虑由运动模糊导致的测量精度下降问题,将一个对旋转和倾斜不敏感的球形标识物安装在负载上,设计一种计算灰度概率分布特征余弦相似度的方法,结合卡尔曼滤波器实时跟踪标识物。提出一种基于背景灰度值的局部自适应分割算法,使模糊边缘变清晰。从感兴趣区域(region of interest,ROI)的中心向周围8个方向寻找灰度梯度最大的点作为模糊图像的边缘点,对这些点采用最小二乘法进行拟合确定标识物位置。通过几何关系模型计算负载摆角。实验结果表明,本文方法在图像模糊情况下的测量精度和实时性能更优。展开更多
基金supported in part by the National High Technology Research and Development Program of China(863 Program)(2015AA042307)Shandong Provincial Scientific and Technological Development Foundation(2014GGX103038)+3 种基金Shandong Provincial Independent Innovation and Achievement Transformation Special Foundation(2015ZDXX0101E01)National Natural Science Fundation of China(NSFC)Joint Fund of Shandong Province(U1706228)the Fundamental Research Funds of Shandong University(2015JC027)
文摘In this paper, an adaptive proportional-derivative sliding mode control(APD-SMC) law, is proposed for 2D underactuated overhead crane systems. The proposed controller has the advantages of simple structure, easy to implement of PD control, strong robustness of SMC with respect to external disturbances and uncertain system parameters, and adaptation for unknown system dynamics associated with the feedforward parts. In the proposed APD-SMC law, the PD control part is used to stabilize the controlled system, the SMC part is used to compensate the external disturbances and system uncertainties,and the adaptive control part is utilized to estimate the unknown system parameters. The coupling behavior between the trolley movement and the payload swing is enhanced and, therefore, the transient performance of the proposed controller is improved.The Lyapunov techniques and the La Salle's invariance theorem are employed in to support the theoretical derivations. Experimental results are provided to validate the superior performance of the proposed control law.
基金This work was supported bythe National Science Council ofthe Republic of China (No .NSC-91-2213-E-231-007) .
文摘This paper presents fuzzy-based design for the control of overhead crane. Instead of analyzing the complex nonlinear crane system, the proposed approach uses simple but effective way to control the crane. There are twin fuzzy controllers which deal with the feedback information, the position of trolley crane and the swing angle of load, to suppress the sway and accelerate the speed when the crane transports the heavy load. This approach simplifies the designing procedure of crane controller; besides, the twin controller method reduces the rule number when fulfilling the fuzzy system. Finally, experimental results through the crane model demonstrate the effectiveness of the scheme.
文摘This paper is about the application of PLC (Model S5 135U made by Siemens) in the overhead crane.It is mainly about the working principles and application of PLC Model S5 135U.
文摘This paper presents a case study on the repair of a mechanical component of an overhead crane.The problem was initially identified through on-site inspection and analysis of the crane’s performance.The mechanical part was found damaged,leading to safety concerns and operational inefficiencies.The paper details the process of diagnosing the issue,developing a repair plan,and executing the repair work.The repair plan involved replacing the damaged component with a new one and conducting additional maintenance work to ensure optimal performance.The paper also discusses the outcomes of the repair work,which led to improved safety and increased efficiency of the overhead crane.The case study provides insights into the importance of regular maintenance and on-site inspections in ensuring the safe and efficient operation of mechanical systems.
基金Supported by National Natural Science Foundation of China （61325017, 11372144）, and the National Science and Technology Pillar Program of China （2013BAF07B03）
文摘Reducing the effects of external disturbance on overhead crane systems is crucial,as they can impair the controller performance and cause excessive vibrations or oscillations of the payloads.One such external disturbance is the inclination of the supporting track of the crane trolley,which causes the system dynamics model to change.An open-loop control strategy is widely utilized to control the payload sway motion and generally does not require any alterations in the physical structure of a system or the installation of sensors and/or actuators.Input and command shaping are two common open-loop control techniques applied to control overhead cranes.In this paper,the effect of moving an overhead crane system along an inclined supporting track is investigated.In addition,the ability of different types of input-and command-shaping control schemes to suppress the residual vibrations due to trolley track inclination is demonstrated.Two types of input-shaping controllers,which are double-step,zero vibration,and one command waveform(WF)shaper based on a trigonometric function,are used and tested.A linear equation of motion of the overhead crane resting on an inclined surface is developed to simulate the overhead crane and payload motion.The effectiveness of the different types of open-loop controllers to suppress residual vibrations is verified by both simulation and experimental results.In addition,a new WF command shaper is proposed and designed to overcome track inclination while eliminating payload residual vibration.A comprehensive comparative analysis,both numerically and experimentally,is performed on the new proposed shaper to measure its effectiveness in handling inclination when compared to other types of open-loop controllers.The new shaper outperforms other controllers in eliminating payload residual vibration for a wider range of inclination angles.
文摘In this paper, a new adaptive hierarchical sliding mode control scheme for a 3D overhead crane system is proposed. A controller is first designed by the use of a hierarchical structure of two first-order sliding surfaces represented by two actuated and un-actuated subsystems in the bridge crane. Parameters of the controller are then intelligently estimated, where uncertain parameters due to disturbances in the 3D overhead crane dynamic model are proposed to be represented by radial basis function networks whose weights are derived from a Lyapunov function. The proposed approach allows the crane system to be robust under uncertainty conditions in which some uncertain and unknown parameters are highly difficult to determine. Moreover, stability of the sliding surfaces is proved to be guaranteed. Effectiveness of the proposed approach is then demonstrated by implementing the algorithm in both synthetic and reallife systems, where the results obtained by our method are highly promising.
基金supported by the Research Program of General Administration of Quality Supervision,Inspec-tion and Quarantine of the People's Republic of China(AQSIQ)(No.2014QK182)the Key Laboratory of Risk Identification and Structural Damage Detection Technology for Large Cranes of Jiangsu Province,Donghua Testing Technology Co.,Ltd
文摘A model based damage identification was proposed by facilitating parameter sensitivity analysis and applied to a general overhead travelling crane.As updating reference data,experimental modal frequency was obtained by operational modal analysis(OMA)under ambient excitation.One dimensional damage function was defined to identify the damage by bending stiffness.The results showed that the model updating method could locate the damage and quantitatively describe the structure.The average error of eigenvalues between updated model analysis and the experimental results was less than 4% which proved the accuracy reliable.The comparison of finite element analysis and the test results of the deflection under the capacity load further verified the feasibility of this method.
文摘A significant negative aspect in the operation of bridge-type cranes are the technical problems associated with wear of the wheels and the crane track,which causes crane skewing.The main causes of crane skewing include unevenness of the crane track,unequal loading of the traction drives depending on the position of the crane trolley,slips and different sizes of travel wheels and combinations of these causes.Firstly,this paper presents a design solution that can be used to detect the magnitude of mechanical stress and deformation of the steel structure of the crane,caused by the effects of skewing.The mechanical stress generated by the transverse forces of the deformed geometric shape of the crane bridge structure is recorded by mechanical stress detectors installed in the inner corners of the crane bridge.The resulting electrical signal from element mechanical voltage detectors,loaded by axial forces,can be used for feedback control of separate crane travel drives controlled by frequency converters.Secondly,this paper presents the calculation of the lateral transverse forces according to CSN 270103 and the determination of the values of mechanical stresses of the deformed steel structure of the crane bridge of a two-girder bridge crane using the finite element method in the program MSC.MARC 2019.Finally,this paper presents the structural and strength design of mechanical stress detectors and the conclusions of laboratory tests of axial force loading of mechanical stress detectors on the test equipment.At the same time,it presents records of the measured axial forces acting in the mechanical stress detectors,arising from the deformation and warping of the crane bridge by the known magnitude of the axial force acting on the crossbeam and from the deformation of the crane bridge caused by the crane operating modes.
文摘针对目前基于视觉的桥式起重机负载摆角测量方法实时性较低,且没有考虑由运动模糊导致的测量精度下降问题,将一个对旋转和倾斜不敏感的球形标识物安装在负载上,设计一种计算灰度概率分布特征余弦相似度的方法,结合卡尔曼滤波器实时跟踪标识物。提出一种基于背景灰度值的局部自适应分割算法,使模糊边缘变清晰。从感兴趣区域(region of interest,ROI)的中心向周围8个方向寻找灰度梯度最大的点作为模糊图像的边缘点,对这些点采用最小二乘法进行拟合确定标识物位置。通过几何关系模型计算负载摆角。实验结果表明,本文方法在图像模糊情况下的测量精度和实时性能更优。
