Open AccessVibration Control and Smart Integrated Transportation Strategy of Crane Systems
Author(s) -
Kazuhiko Terashima,
Ho Duc Tho
Publication year - 2020
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/920/1/012023
Subject(s) - overhead crane , controller (irrigation) , robust control , control theory (sociology) , payload (computing) , skew , control engineering , computer science , engineering , parametric statistics , control system , vibration , control (management) , mathematics , telecommunications , statistics , electrical engineering , structural engineering , artificial intelligence , network packet , biology , physics , quantum mechanics , computer network , agronomy
This paper presents number of vibration control schemes and smart integrated transportation strategies for crane systems. First, robust control problem of payload’s skew rotation in crane systems is discussed. A robust integral sliding mode controller is proposed to realize skew transportation without residual vibration. Robust stability conditions with respect to parametric uncertainties of the closed-loop system are imposed on control gains. Second, transportation of bulk material using an overhead crane system is considered, in which the transferred material can be dropped/discharged while in the air. This paper introduces a new concept, named tossing control methodology, to enhance transportation productivity. A specific type of tossing controller is established, which relies on the phenomenon of linear resonance. It will be shown that the resonance-based tossing control is able to break the time limitation of the minimum-time vibration suppression control. Simulation and experimental results are provided to verify the effectiveness of the proposed control systems. Finally, a diffusion-based obstacle-avoidance path planning method for crane systems is outlined to realize a fully autonomous crane in future.