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A Novel Dynamic Model for a Crane System with a Flexible Cable and Large Swing Angle

Published on Jun 1, 2015in International Journal of Scientific Engineering and Technology
路 DOI :10.17950/ijset/v4s6/606
Mohammad H. Fatehi3
Estimated H-index: 3
,
Mohammad Eghtesad17
Estimated H-index: 17
,
Roya Amjadifard4
Estimated H-index: 4
Abstract
In this paper a novel dynamical model will be developed for an overhead crane with transverse vibrations of flexible cable while considering large angle of the cable/payload swing. The major problem addressed is expressing the dynamic interaction between the cables and other elements in the crane system which demands investigation into boundary induced cable vibrations and large swing angle. The developed model is achieved as an ODE model and it is appropriate enough to design suitable control systems. Thus, to perform the modeling, Rayleigh- Ritz discretization method is used to achieve an ODE model for transverse deflection of the cable having finite generalized degrees of freedom. Using the Euler-Lagrange formulation, the dynamical model of the crane system with a flexible cable is obtained. The simulations are performed based on OpenSees model and the developed model to validate the obtained model. To demonstrate the dynamic behavior of crane system, an illustrative example of the crane system with flexible cable moving a lightweight and heavyweight payload is investigated under various conditions.
  • References (24)
  • Citations (1)
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References24
Newest
#1Ning Sun (NKU: Nankai University)H-Index: 22
#2Yongchun Fang (NKU: Nankai University)H-Index: 33
SUMMARY In this paper, a trajectory planning approach is proposed for underactuated overhead cranes. Different from existing trajectory planning methods, the presented approach generates trajectory commands online without the necessity of iterative optimization, which is convenient for practical implementation. We demonstrate the performance of the proposed method, including swing elimination and precise trolley positioning, with rigorous Lyapunov-based mathematical analysis. Both numerical simu...
45 CitationsSource
#1Ning Sun (NKU: Nankai University)H-Index: 22
#2Yongchun Fang (NKU: Nankai University)H-Index: 33
In this paper, we present a novel end-effector (payload) motion-based control development approach for the regulation of underactuated overhead cranes, which is efficient even in the presence of external disturbance and system parameter variations/uncertainties. The control system is elegantly constructed so that the problem of simultaneously regulating the trolley motion and suppressing the payload swing is successfully addressed by stabilizing a newly defined payload motion signal. Specificall...
125 CitationsSource
#1Ning Sun (NKU: Nankai University)H-Index: 22
#2Yongchun Fang (NKU: Nankai University)H-Index: 33
Last. Bojun MaH-Index: 6
view all 4 authors...
Motivated by the desire to achieve smooth trolley transportation and small payload swing, a kinematic coupling-based off-line trajectory planning method is proposed for 2-D overhead cranes. Specifically, to damp out unexpected payload swing, an antiswing mechanism is first introduced into an S-shape reference trajectory based on rigorous analysis for the coupling behavior between the payload and the trolley. After that, the combined trajectory is further tuned through a novel iterative learning ...
122 CitationsSource
#1Yongchun Fang (NKU: Nankai University)H-Index: 33
#2Bojun Ma (NKU: Nankai University)H-Index: 6
Last. Xuebo Zhang (NKU: Nankai University)H-Index: 18
view all 4 authors...
This brief proposes a motion planning-based adaptive control strategy for an underactuated overhead crane system. To improve the transportation efficiency and enhance the safety of the crane system, the trolley is required to reach the desired position fast enough, while the swing of the payload needs to be within an acceptable domain. To achieve these objectives, a novel two-step design strategy consisting of a motion planning stage and an adaptive tracking control design stage, is proposed to ...
140 CitationsSource
#1A. Yesildirek (AUS: American University of Sharjah)H-Index: 12
For a class of underactuated systems, a switching Lyapunov functions based nonlinear controller is given. Underactuated configuration space is split in to two subsets. Two simplified controllers with local guaranteed performances are derived. A direct controller is designed on actuated configuration space while another feedback controller is utilized indirectly to act on the unactuated configuration space. A switching algorithm between those controllers is based on maximum projection strategy. D...
2 CitationsSource
May 1, 2011 in ICRA (International Conference on Robotics and Automation)
#1Ning Sun (NKU: Nankai University)H-Index: 4
#2Yongchun Fang (NKU: Nankai University)H-Index: 33
Last. Yinghai Yuan (NKU: Nankai University)H-Index: 2
view all 4 authors...
Inspired by the desire to achieve fast payload transportation as well as sufficient swing suppression, a novel phase plane based motion planning method is proposed for underactuated overhead cranes. Specifically, the variation law of the underactuated system states in the phase plane is firstly derived via mathematical analysis for the phase portraits. Based on this, an analytical three-segment acceleration trajectory (namely, a trapezoid velocity trajectory) with the coupling behavior being tak...
26 CitationsSource
#1Bojun Ma (NKU: Nankai University)H-Index: 6
#2Yongchun Fang (NKU: Nankai University)H-Index: 33
Last. Y. Zhang (NKU: Nankai University)H-Index: 2
view all 3 authors...
Emergency braking plays an important role in the safety of overhead crane systems; however, it has received little attention so far. Motivated by this fact, two practical guidelines for the emergency braking control of overhead crane systems are proposed, which are safety and efficiency in brief. Based on the guidelines, a novel two-stage switching control strategy is then presented to improve operation safety. Specifically, at the first stage, a braking controller is exerted on the trolley to p...
36 CitationsSource
#1Ning SunH-Index: 22
#2Yong-Chun FangH-Index: 3
Last. Xuebo ZhangH-Index: 18
view all 4 authors...
In this paper,an adaptive trajectory tracking controller is proposed for 3-dimensional(3D) underactuated overhead cranes.Considering system frictions and air resistances,this controller is put forward without approximately decoupling or linearizing the complicated nonlinear model of 3D overhead cranes.The proposed controller can accurately position the trolley as well as suppress the payload swing even in the presence of uncertainties of system parameters.The stability of the closed-loop system ...
4 Citations
#1Kamal A. F. Moustafa (United Arab Emirates University)H-Index: 10
#2Mohamed B. Trabia (UNLV: University of Nevada, Las Vegas)H-Index: 12
Last. Mohamed I. S. Ismail (Zagazig University)H-Index: 3
view all 3 authors...
This paper introduces a novel mathematical model that represents an overhead crane with flexible cable and load hoisting/lowering. The model includes the transverse vibrations of the flexible cable. Highly non-linear Partial Differential Equations and Ordinary Differential Equations that govern the motion of the crane system within the time-varying spatial domain are derived via calculus of variation and Hamilton's principle. A proportional derivative control scheme is applied to drive the under...
10 CitationsSource
#1Bojun Ma (NKU: Nankai University)H-Index: 6
#2Yongchun Fang (NKU: Nankai University)H-Index: 33
Last. Xuebo Zhang (NKU: Nankai University)H-Index: 18
view all 3 authors...
Abstract This paper proposes an adaptive control method for an underactuated overhead crane system. To improve the transferring efficiency and enhance the security of the crane system, the trolley is required to reach the desired position as fast as possible, while the swing of payload needs to be within an acceptable domain. To achieve these objectives, a novel two-step design strategy consisting of a trajectory planning stage and an adaptive tracking control design stage, is proposed to attack...
24 CitationsSource
Cited By1
Newest
#1Mohammad H. Fatehi (IAU: Islamic Azad University)H-Index: 3
#2Mohammad Eghtesad (Shiraz University)H-Index: 17
Last. Ali A. Fatehi (IAU: Islamic Azad University)H-Index: 1
view all 4 authors...
A flexible-cable overhead crane system having large swing is studied as a multi-degree underactuated system. To resolve the system dynamics complexities, a second order singular perturbation (SP) f...
2 CitationsSource