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Research Papers

Wave-Based Control of a Crane System With Complex Loads

[+] Author and Article Information
Jiao Zhou, Kai Zhang

Key Laboratory of Dynamics and Control of
Flight Vehicle,
Ministry of Education,
School of Aerospace Engineering,
Beijing Institute of Technology,
Beijing 100081, China

Gengkai Hu

Key Laboratory of Dynamics and Control of
Flight Vehicle,
Ministry of Education,
School of Aerospace Engineering,
Beijing Institute of Technology,
Beijing 100081, China
e-mail: hugeng@bit.edu.cn

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received October 21, 2015; final manuscript received January 11, 2017; published online June 1, 2017. Assoc. Editor: Douglas Bristow.

J. Dyn. Sys., Meas., Control 139(8), 081016 (Jun 01, 2017) (11 pages) Paper No: DS-15-1527; doi: 10.1115/1.4036228 History: Received October 21, 2015; Revised January 11, 2017

In the framework of wave-based method, we have examined swing motion control for double-pendulum and load-hoist models. Emphases are placed on wave scattering by the middle load mass in the double-pendulum model and on time-varying configuration in the load-hoist model. By analyzing wave transmission and reflection, trolley's motion to alleviate swing is designed by absorbing reflected wave through adjusting the velocity of trolley. Simulation and experiment are also conducted to validate the proposed control method. The results show that with the designed trolley's motion swings of load can be significantly reduced for both double-pendulum model, suspended rod model which is demonstrated a special case of double-pendulum model, and load-hoist model. Simulation results agree well with the experimental measurement. Launch velocity profiles may have important impact on motion design, especially on force necessary to displace trolley. Finally, a wave-based feedback control is also discussed to demonstrate the flexibility of method.

Copyright © 2017 by ASME
Topics: Stress , Waves , Pendulums , String
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References

Figures

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Fig. 1

Single load mass and uniform string model

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Fig. 2

Wave-based control (a) and input shaping (b) for simple pendulum

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Fig. 3

Double-pendulum model

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Fig. 8

Experimental setup for double-pendulum model

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Fig. 9

Comparison between simulation and experiment for displacement and velocity of load 2 in double-pendulum model: (a) experimental displacements in wave-controlled case and constant velocity case, (b) velocity variation in the wave-controlled case, and (c) velocity variation in constant velocity case

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Fig. 10

Displacement of rigid rod (the bottom end) for constant velocity motion and wave-controlled motion: (a) simulation and (b) experiment

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Fig. 11

Experimental setup for load-hoist model

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Fig. 12

Comparison of measured horizontal displacement (a) and velocity (b) of load for constant velocity motion and proposed control motion

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Fig. 7

Simulation of force variation on load 2 in double-pendulum model

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Fig. 6

Analytical and finite element results of displacement (a) and velocity (b) as a function of time for double-pendulum model

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Fig. 5

Hoisting load model

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Fig. 15

Vibration amplitude changes with the normalized frequency error in constant (a) and exponential (b) launch velocity control method

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Fig. 16

Swing of load for a single pendulum: (a) with control and (b) without control

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Fig. 17

Swing of pendulum with and without control: (a) single pendulum and (b) double pendulum

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Fig. 13

Comparison of different designed velocity profiles of the trolley (a) and responses of the load (b) for different launch functions, including constant, exponential, and trapezoid forms

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Fig. 14

Acceleration profiles of trolley (a) and load (b) for different launch velocity profiles, including constant, exponential, and trapezoid forms

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