A Sliding-Mode Antiswing Trajectory Control for Overhead Cranes With High-Speed Load Hoisting

[+] Author and Article Information
Ho-Hoon Lee

Department of Mechanical Engineering,  Tulane University, New Orleans, LA 70118hhlee@tulane.edu

Yi Liang, Del Segura

Department of Mechanical Engineering,  Tulane University, New Orleans, LA 70118

J. Dyn. Sys., Meas., Control 128(4), 842-845 (Apr 25, 2006) (4 pages) doi:10.1115/1.2364010 History: Received October 23, 2004; Revised April 25, 2006

In this paper we propose a sliding-mode antiswing control for overhead cranes. The objective of this study is to realize an antiswing trajectory control with high-speed load hoisting. A sliding-mode antiswing trajectory control scheme is designed based on the Lyapunov stability theorem, where a sliding surface, coupling the trolley motion with load swing, is adopted for a direct damping control of load swing. The proposed control guarantees asymptotic stability while keeping all internal signals bounded. In association with a new antiswing motion planning scheme, the proposed control realizes a typical antiswing trajectory control in practice, allowing high-speed load-hoisting motion and sufficient damping of load swing. The proposed control is simple for a real-time implementation with high-frequency sampling. The effectiveness of the proposed control has been confirmed by experiments.

Copyright © 2006 by American Society of Mechanical Engineers
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Figure 1

Plane model of an overhead crane

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Figure 2

Schematic diagram of the control system

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Figure 3

Experimental results with load hoisting




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