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Journal articles on the topic 'Gantry Crane Control'

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Published: 4 June 2021

Last updated: 1 February 2022

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1

Peng, Qihui, Wenming Cheng, Hongyu Jia, and Peng Guo. "Fragility Analysis of Gantry Crane Subjected to Near-Field Ground Motions." Applied Sciences 10, no. 12 (June 19, 2020): 4219. http://dx.doi.org/10.3390/app10124219.

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A gantry crane located in a near-field earthquake-prone area is selected in this paper as an example, and the nonlinear finite element (FE) model is used considering the material nonlinearity including plastic hinges and the second order (P − Δ ) effect with a comprehensive consideration of the components including sill beams, support beams, legs, and trolley girders. The local displacement ratio (LDR) and deflection ratio (DR) are proposed as demand measures (DMs) of the gantry crane, which are utilized to construct a probabilistic seismic demand model (PSDM). Then, the capacity limit states for the gantry crane are defined in this study by performing pushover analysis (POA), known as serviceability, damage control, and collapse prevention, respectively. Moreover, the operating capacity of the crane during an earthquake is further investigated and quantified by operating seismic peak ground acceleration, which is defined as the maximum acceleration when the failure probability is 50%. Finally, the fragility curves and the failure probability of the gantry crane are derived by the above definitions, all of which are pioneering in the seismic design of gantry cranes subjected to near-field ground motions. Some major conclusions are drawn that the horizontal component of an earthquake has a more notable effect on the structural damage of the gantry crane compared to the vertical component, and incremental dynamic analysis can take seismic uncertainty into account and quantify the deformation of gantry crane in more detail.

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2

Barva, P., and P. Horáček. "Control Methods for Gantry Crane." IFAC Proceedings Volumes 33, no. 31 (December 2000): 225–30. http://dx.doi.org/10.1016/s1474-6670(17)37867-9.

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3

Almutairi, Naif B., and Mohamed Zribi. "Fuzzy Controllers for a Gantry Crane System with Experimental Verifications." Mathematical Problems in Engineering 2016 (2016): 1–17. http://dx.doi.org/10.1155/2016/1965923.

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The control problem of gantry cranes has attracted the attention of many researchers because of the various applications of these cranes in the industry. In this paper we propose two fuzzy controllers to control the position of the cart of a gantry crane while suppressing the swing angle of the payload. Firstly, we propose a dual PD fuzzy controller where the parameters of each PD controller change as the cart moves toward its desired position, while maintaining a small swing angle of the payload. This controller uses two fuzzy subsystems. Then, we propose a fuzzy controller which is based on heuristics. The rules of this controller are obtained taking into account the knowledge of an experienced crane operator. This controller is unique in that it uses only one fuzzy system to achieve the control objective. The validity of the designed controllers is tested through extensive MATLAB simulations as well as experimental results on a laboratory gantry crane apparatus. The simulation results as well as the experimental results indicate that the proposed fuzzy controllers work well. Moreover, the simulation and the experimental results demonstrate the robustness of the proposed control schemes against output disturbances as well as against uncertainty in some of the parameters of the crane.

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4

Du, Wen Zheng, Zheng Xie, Fei Lu, and Yuan Cao. "Gantry Crane Dynamic Modeling and Motion Control." Applied Mechanics and Materials 419 (October 2013): 649–53. http://dx.doi.org/10.4028/www.scientific.net/amm.419.649.

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In this paper, a new anti-swing control scheme is proposed for a three dimensional gantry crane. The proposed control is based on linear two optimum output regulation technology. The proposed control guarantees not only prompt suppression of load swing but also accurate control of crane position for simultaneous travel, traverse, and hoisting motions of the crane. Furthermore, the proposed control provides practical gain tuning criteria for easy application. The effectiveness of the proposed control is shown by simulation with a three-dimensional gantry crane.

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5

Lu, Meng Long, and Zheng Gui. "Horizontal Force on Tire Gantry Crane." Applied Mechanics and Materials 333-335 (July 2013): 2105–9. http://dx.doi.org/10.4028/www.scientific.net/amm.333-335.2105.

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Difference of trolley traction distribution and slip angle of tire wheels may cause extra horizontal force to legs of tire gantry crane. The case and cause were studied to estimate the force for the crane design, control, and operation. And that was compared with one specialized in the design rules of rail gantry crane. It can be found that under proper control and operation condition the later can also be applied to the tire gantry crane.

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6

Zhang, Hai-yun, Jin Wang, and Guo-dong Lu. "Hierarchical fuzzy-tuned multiobjective optimization control for gantry cranes." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 228, no. 7 (August 30, 2013): 1119–31. http://dx.doi.org/10.1177/0954406213501968.

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This work presents a hierarchical fuzzy-tuned multiobjective optimization control scheme for the horizontal moving process of gantry cranes. Initially, a multiobjective optimization controller is developed based on gantry crane dynamics, which transforms the control issue of gantry crane into a state-tracking optimization problem and accomplishes simultaneous optimization of multiple performance indexes through the weighting matrix configuration. To cope with the multiobjective optimization controller, an actuation signal modulator is designed using a linear interpolation algorithm, which transforms the step signal of terminal position into an asymptotic signal to improve the transient system performance. Furthermore, a PD-type fuzzy logic regulator is developed as the superior of multiobjective optimization controller to adaptively guide the control procedure by tuning and configuring the weighting matrix. Above three components (multiobjective optimization controller, actuation signal modulator, fuzzy logic regulator) compose the complete hierarchical control scheme. Then, stability of the proposed control scheme is testified through Lyapunov stability theorem, and performances of the control scheme are examined through a series of simulations. Finally, conclusions and assessment of the control scheme are summarized and discussed.

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7

He, Kong De, Zi Fan Fang, Da Lin Zhu, and Wei Hua Yang. "The Control System Model of Gantry Crane for Preventing Swing." Applied Mechanics and Materials 135-136 (October 2011): 1013–19. http://dx.doi.org/10.4028/www.scientific.net/amm.135-136.1013.

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This paper aimed at the phenomenon of swing which caused by inertia force and outer loads when gantry crane worked, the dynamical equation and state space equation were founded based on Lagrange, analyzed the swing phenomenon by LQR linearity secondary optimal control method, and simulated the equation by MATLAB software, through the results, the conclusion can be got that this method could reduce time for crane swing and improve the precision of orientation and working efficiency, this method had important meaning for improve the security and working efficiency for gantry crane, which can be extended to other crane too.

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8

Kolar, Bernd, and Kurt Schlacher. "Flatness based Control of a Gantry Crane." IFAC Proceedings Volumes 46, no. 23 (2013): 487–92. http://dx.doi.org/10.3182/20130904-3-fr-2041.00056.

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9

Chen, Zhi Mei, Wen Jun Meng, Ming Hui Zhao, and Jing Gang Zhang. "Hybrid Robust Control for Gantry Crane System." Applied Mechanics and Materials 29-32 (August 2010): 2082–88. http://dx.doi.org/10.4028/www.scientific.net/amm.29-32.2082.

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A new hybrid control scheme combining input shaping technique with robust sliding mode control is proposed for a gantry crane system. A cascade sliding-mode controller is designed to control the trolley position and eliminate the sway of load. The transient vibration is reduced further for safety problems by the input shaping technique which utilizes zero-vibration-derivative (ZVD) robust input shapers. This method can not only realize the accurate position of the trolley and eliminate the sway of the load and residual vibration, but also completely eliminate the chattering of conventional sliding mode control and improve the robustness of system. The simulation results proved its effectiveness.

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10

O’Connor, William J. "A Gantry Crane Problem Solved." Journal of Dynamic Systems, Measurement, and Control 125, no. 4 (December 1, 2003): 569–76. http://dx.doi.org/10.1115/1.1636198.

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Rest to rest movement of a crane’s swinging load, at the bottom end of a cable, by moving a speed-limited gantry trolley at the top, involves resolving the apparently conflicting demands of exact load positioning and active swing damping. If system parameters are unknown beforehand, best existing strategies offer only asymptotic solutions. The proposed control strategy stops the load dead, exactly on target, in a finite time. It is robust and self-adapting. Using mechanical wave concepts, the gantry controller “learns” from the previously unknown dynamic response in the first part of the motion exactly how to terminate the motion. All results are verified numerically.

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11

Kharola, Ashwani, and Pravin P. Patil. "Automated Control and Optimisation of Overhead Cranes." International Journal of Manufacturing, Materials, and Mechanical Engineering 7, no. 3 (July 2017): 41–68. http://dx.doi.org/10.4018/ijmmme.2017070103.

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This study considers a fuzzy based computing technique for control and optimising performance of overhead gantry crane. The objective is to minimise load swing and stabilise crane position in the least possible time. The fuzzy controllers were designed using nine gaussian and triangular shape membership functions. The results clearly confirmed the effect of shape of memberships on performance of fuzzy controllers. Performance of overhead crane was measured in terms of settling time and overshoot. The study also demonstrates the influence of varying mass of the load, mass of crane and length of crane bar on stability of the crane. A mathematical model of the crane system has been derived to develop a simulink model of proposed system and performing simulations.

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12

Nguyen, Tung Lam, Trong Hieu Do, and Hong Quang Nguyen. "Vibration Suppression Control of a Flexible Gantry Crane System with Varying Rope Length." Journal of Control Science and Engineering 2019 (February 11, 2019): 1–8. http://dx.doi.org/10.1155/2019/9640814.

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The paper presents a control approach to a flexible gantry crane system. From Hamilton’s extended principle the equations of motion that characterized coupled transverse-transverse motions with varying rope length of the gantry is obtained. The equations of motion consist of a system of ordinary and partial differential equations. Lyapunov’s direct method is used to derive the control located at the trolley end that can precisely position the gantry payload and minimize vibrations. The designed control is verified through extensive numerical simulations.

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13

Mu, Chun Xin, Ming Quan Shi, Zhen Feng Han, and Qi Min Li. "Fuzzy-LQR Based Anti-Swing Control of Gantry Crane." Advanced Materials Research 1030-1032 (September 2014): 1596–601. http://dx.doi.org/10.4028/www.scientific.net/amr.1030-1032.1596.

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The paper proposed a controller combined fuzzy logic with linear quadratic regulator (LQR). This controller was able to adjust the swing angle precisely during the lifting of gantry crane. It resolved the problem that the LQR controller mostly depending on the accuracy of the mathematical model. First, the paper analyzed the design method of the LQR, then an improved method combing with fuzzy logic was put forward in detail and a further simulation experiment was carried on the MATLAB. The result shows that compared with LQR, the Fuzzy-LQR method can drive the crane to destination in a shorter time and reduced the swing angle by a third.

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14

Shi, Li, Bai, and Huang. "Research on Nonlinear Control Method of Underactuated Gantry Crane Based on Machine Vision Positioning." Symmetry 11, no. 8 (August 2, 2019): 987. http://dx.doi.org/10.3390/sym11080987.

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The movement of the gantry crane is controlled by an symmetry underactuated system, and has poor robustness in precise positioning. A new active control method based on the machine vision positioning is proposed in this paper, and the trajectories are planned after the detection of starting and ending points. A new type of energy storage function is given in this paper, and a coupling control law is derived to minimize the load swing in the process of precise positioning. The equilibrium point of the closed-loop system is checked though Lyapunov and LaSalle’s theorems, and the calculation results are verified through experimental investigations. The results show that the equilibrium points are asymptotically stable, and the proposed control method is of better robustness. The findings provide a new kind of control method with higher efficiency, and can help with the precise control of gantry cranes.

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15

Aksjonov, Andrei, Valery Vodovozov, and Eduard Petlenkov. "Three-Dimensional Crane Modelling and Control Using Euler-Lagrange State-Space Approach and Anti-Swing Fuzzy Logic." Electrical, Control and Communication Engineering 9, no. 1 (December 1, 2015): 5–13. http://dx.doi.org/10.1515/ecce-2015-0006.

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Abstract The mathematical model of the three-dimensional crane using the Euler-Lagrange approach is derived. A state-space representation of the derived model is proposed and explored in the Simulink® environment and on the laboratory stand. The obtained control design was simulated, analyzed and compared with existing encoder-based system provided by the three-dimensional (3D) Crane manufacturer Inteco®. As well, an anti-swing fuzzy logic control has been developed, simulated, and analyzed. Obtained control algorithm is compared with the existing anti-swing proportional-integral controller designed by the 3D crane manufacturer Inteco®. 5-degree of freedom (5DOF) control schemes are designed, examined and compared with the various load masses. The topicality of the problem is due to the wide usage of gantry cranes in industry. The solution is proposed for the future research in sensorless and intelligent control of complex motor driven application.

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16

Dadone, Paolo, and Hugh F. Vanlandingham. "Load Transfer Control for a Gantry Crane with Arbitrary Delay Constraints." Journal of Vibration and Control 8, no. 2 (February 2002): 135–58. http://dx.doi.org/10.1177/107754602023815.

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This paper describes a method to move the load of a gantry crane to a desired position in the presence of known, but arbitrary, motion-inversion delays as well as cart acceleration constraints. The method idea is based on a phase-plane analysis of the linearized model. In order to limit residual pendulation at the goal position, the method is extended to account for quadratic and cubic nonlinearities. The method of multiple scales is used to determine an approximate solution to the nonlinear equations of motion, thus providing a more accurate measure of the frequency of the oscillations. The nonlinear approach is very successful in limiting residual oscillations to very small values (less than 1 degree of amplitude), offering a reduction, with respect to the linear case, of as much as two orders of magnitude. Finally, this method offers a rationale for the future development of a controller for suppression of load oscillations in ship-mounted cranes in the presence of arbitrary delays.

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17

Aoustin, Yannick, and Alexander Formal'sky. "Simple anti-swing feedback control for a gantry crane." Robotica 21, no. 6 (October 24, 2003): 655–66. http://dx.doi.org/10.1017/s0263574703005150.

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We propose a simple quasi time optimal control law for a gantry crane with a payload. The force applied to the trolley is a controlling parameter. The control law consists of two parts: a feedforward term and a trolley position and velocity feedback term.Initially, we synthesize the feedforward term and the corresponding reference trajectory by computing the time optimal control for the system mass center. The computed optimal control is a discontinuous function of time with several switching time instants. Undesirable large vibrations due to the payload sway appear under this control. Therefore, we transform this control, replacing its jumps by the piecewise linear continuous functions. The computed feedforward term and the reference trajectory are used as input signals of the PD-controller.

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18

YAMAKOSHI, Michitaka, Etsuro SHIMIZU, and Masanori ITO. "2305 Vibration Control of the Rubber Tired Gantry Crane." Proceedings of the Transportation and Logistics Conference 2001.10 (2001): 185–88. http://dx.doi.org/10.1299/jsmetld.2001.10.185.

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19

Kolar, Bernd, Hubert Rams, and Kurt Schlacher. "Time-optimal flatness based control of a gantry crane." Control Engineering Practice 60 (March 2017): 18–27. http://dx.doi.org/10.1016/j.conengprac.2016.11.008.

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20

Golovin, Ievgen, Anton Maksakov, Myroslav Shysh, and Stefan Palis. "Discrepancy-based control for positioning of large gantry crane." Mechanical Systems and Signal Processing 163 (January 2022): 108199. http://dx.doi.org/10.1016/j.ymssp.2021.108199.

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21

Masoud, Ziyad N., Ali H. Nayfeh, and Amjed Al-Mousa. "Delayed Position-Feedback Controller for the Reduction of Payload Pendulations of Rotary Cranes." Journal of Vibration and Control 9, no. 1-2 (January 2003): 257–77. http://dx.doi.org/10.1177/107754603030750.

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In this paper, we show that, in rotary cranes, it is possible to reduce payload pendulations significantly by controlling the crane's translational and rotational degrees of freedom. Such a control can be achieved with the heavy equipment that is already part of the crane, so that retrofitting existing cranes with such a controller would require little effort. Moreover, the control is superimposed transparently on the commands of the operator. The successful control strategy is based on delayed position feedback of the payload's in-plane and out-of-plane motions. Its effectiveness is demonstrated with a fully nonlinear three-dimensional computer simulation and with an experiment on a scaled model of a rotary crane. The results demonstrate that the pendulations can be significantly reduced, and therefore the rate of operation can be greatly increased. The effectiveness of the controller is demonstrated for both rotary and gantry modes of operation.

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22

Dankadai, Najib K., Ahmad Athif Mohd Faudzi, Amir Bature, Suleiman Babani, and Muhammad I. Faruk. "Position Control of a 2D Nonlinear Gantry Crane System Using Model Predictive Controller." Applied Mechanics and Materials 735 (February 2015): 282–88. http://dx.doi.org/10.4028/www.scientific.net/amm.735.282.

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This paper presents the application of model predictive controller for controlling a nonlinear 2D gantry crane system with a DC motor as an actuator. The gantry crane system (GCS) dynamics is derived using Lagrange equation method. A model predictive controller is designed based on the linearised GCS and prediction cost function to ensure accurate positioning and oscillation reduction. Simulation via MATLAB and Simulink was performed to investigate the performance of the model predictive controller on the GCS. The controller test was done under several elements altering the behaviour of the system. The closed loop system was analysed considering different cable length, payload mass and trolley position. It was found that the closed loop control meets the main goal of this work, trolley positioning as fast as possible with minimum payload swinging all within a robust input voltage.

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23

Solihin, Mahmud Iwan, Mah Chia Wen, Fahri Heltha, and Lim Chong Lye. "Robust PID Controller Tuning for 2D Gantry Crane Using Kharitonov's Theorem and Differential Evolution Optimizer." Advanced Materials Research 903 (February 2014): 267–72. http://dx.doi.org/10.4028/www.scientific.net/amr.903.267.

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PID (proportional+integral+derivative) controller is well known as a simple and easy-to-implement controller. However, the design procedure is not straightforward for multi-input multi-output (MIMO) systems. It is even more complicated when robustness criterion must be handled. In this paper, a stable robust PID controller for anti-swing control of automatic gantry crane is proposed. The proposed method employs an automatic tuning using DE (differential evolution) to search for a set of PID controller gains that satisfy Kharitonovs polynomials robust stability criterion. This robust stability criterion is used to deal with parametric uncertainty occurs in gantry crane model. The simulation results show that a satisfactory robust PID control performance can be achieved. The PID controller is able to quickly move the cart of the crane while suppressing the swing of the payload for various conditions, i.e. payload mass and cable length variations.

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24

Habibi, Hossein, and William O’Connor. "Payload motion control of rotary gantry and luffing cranes using mechanical wave concepts." Transactions of the Institute of Measurement and Control 39, no. 11 (May 10, 2016): 1649–62. http://dx.doi.org/10.1177/0142331216644044.

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A new solution is presented to the problem of controlling the motion of a crane’s suspended load through arbitrarily complex, 3D paths through the crane’s manoeuvre space. A generalized boom crane arrangement is considered, so that gantry and luffing arrangements are included as particular cases. Thus the crane’s boom slews about a central, vertical (tower) axis. This boom is either a horizontal gantry with a trolley moving radially along it, from which the load can be winched, or a jib, which can rotate in the vertical plane, with the hoisting cable passing over a pulley attached at its end point. In either case, there are three directly controlled motion variables, the effects of which on the suspended payload’s motion are strongly cross-coupled. The challenge is to enable the payload to follow the desired 3D path as closely as possible during the manoeuvre, and come to rest rapidly at target, by directly controlling these three actuating motions. Thus the controller must achieve position control combined with active swing suppression throughout the manoeuvre and on arrival at the desired end point. A model is developed of the generalized crane for both gantry and luffing crane types. The proposed control strategy is then applied and tested on this model. The controller is based on mechanical wave concepts. When applied to the model, it is shown to be very effective. It is accurate, robust to system changes and actuator limitations, very stable, requires sensing only at the trolley (and not at payload), and is easy to implement.

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25

Bruins, Stefan. "Comparison of Different Control Algorithms for a Gantry Crane System." Intelligent Control and Automation 01, no. 02 (2010): 68–81. http://dx.doi.org/10.4236/ica.2010.12008.

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26

Golovin, Ievgen, and Stefan Palis. "Robust control for active damping of elastic gantry crane vibrations." Mechanical Systems and Signal Processing 121 (April 2019): 264–78. http://dx.doi.org/10.1016/j.ymssp.2018.11.005.

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27

Solihin, Mahmud Iwan, Wahyudi, and Ari Legowo. "Fuzzy-tuned PID Anti-swing Control of Automatic Gantry Crane." Journal of Vibration and Control 16, no. 1 (October 20, 2009): 127–45. http://dx.doi.org/10.1177/1077546309103421.

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28

Lobe, A., A. Ettl, A. Steinboeck, and A. Kugi. "Flatness-based nonlinear control of a three-dimensional gantry crane." IFAC-PapersOnLine 51, no. 22 (2018): 331–36. http://dx.doi.org/10.1016/j.ifacol.2018.11.563.

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29

He, Wei, and Shuzhi Sam Ge. "Cooperative control of a nonuniform gantry crane with constrained tension." Automatica 66 (April 2016): 146–54. http://dx.doi.org/10.1016/j.automatica.2015.12.026.

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30

Frikha, Slim, Mohamed Djemel, and Nabil Derbel. "A New Adaptive Neuro-sliding Mode Control for Gantry Crane." International Journal of Control, Automation and Systems 16, no. 2 (March 1, 2018): 559–65. http://dx.doi.org/10.1007/s12555-017-0070-x.

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31

Cartmell, M. P., L. Morrish, and A. J. Taylor. "Dynamics of spreader motion in a gantry crane." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 212, no. 2 (February 1, 1998): 85–105. http://dx.doi.org/10.1243/0954406981521060.

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This paper illustrates the steps necessary to model the dynamics of a model rubber-tyred gantry (RTG) crane as used in container-handling operations. Various modelling criteria are discussed with the emphasis placed on the importance of non-linear coupling between the chosen system coordinates. The machine is treated as three rigid bodies, these being the gantry itself, the trolley (which is constrained to lateral motion across the top beam) and the spreader. Tyre deformations and structural deflections are not considered in this work. The paper culminates in three non-linear ordinary differential equations, which are then solved numerically for a variety of different cases. An important feature of this work is that the dynamic simulations include complicated gantry motions, not currently designed for, such as combined translations and simultaneous rotations. Such motions are more commonly encountered in mobile robots. However, RTG design needs to move in this general direction in the future if significant and potential performance gains are actually to be realized in practise. The paper concludes with suggestions for implementation of the dynamic model within a fuzzy logic control system.

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Omar, Hanafy M., and Ali H. Nayfeh. "Gain Scheduling Feedback Control of Tower Cranes with Friction Compensation." Journal of Vibration and Control 10, no. 2 (February 2004): 269–89. http://dx.doi.org/10.1177/1077546304035610.

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We have designed a controller based on gain-scheduling feedback to move a load from point to point within one oscillation cycle and without inducing large swings. The settling time of the system is taken to be equal to the period of oscillation of the load. This criterion enables us to calculate the controller feedback gains for varying load weight and cable length. First, we designed the controller for gantry cranes and then extended it to tower cranes by considering the coupling between the translational and rotational motions. Numerical simulations show that the controller is effective for reducing load oscillations and transferring the load in a reasonable time compared with that of optimal control. To experimentally validate the theory, we had to compensate for friction. To this end, we estimated the friction, then applied an opposite control action to cancel it. To estimate the friction force, we assumed a mathematical model, then we estimated the model coefficients using an off-line identification technique, the least-squares method. First, the process of identification was applied to a theoretical model of a dc motor with known friction coefficients. From this example, some guidelines and rules were deduced for the choice of the least-squares parameters. Then, the friction coefficients of the gantry crane model were estimated and validated.

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33

Shi, Huaitao, Gang Li, Xin Ma, and Jie Sun. "Research on Nonlinear Coupling Anti-Swing Control Method of Double Pendulum Gantry Crane Based on Improved Energy." Symmetry 11, no. 12 (December 12, 2019): 1511. http://dx.doi.org/10.3390/sym11121511.

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The double pendulum type gantry crane is a typical symmetry underactuated motion system. It has control problems in that the swing of the payload is difficult to suppress and the precise positioning of the trolley is not accurate. A new nonlinear coupling control method based on improved energy is proposed in this paper. We define coupled control signal among trolley, hook and payload. An improved energy storage function is established based on the new coupling control signal. Consequently, a nonlinear anti-swing controller is constructed straightforwardly, and the closed-loop system stability is subject to strict mathematics analysis by Lyapunov and LaSalle’ s theorem. Moreover, the new energy function based on the coupling behaving between the trolley motion and the payload swing leads to the improved control performance. Numerical simulation results show that the proposed method has better performance than traditional controllers. It not only effectively suppresses the swing of the load and the hook, but also precisely controls the displacement of the trolley. It has strong robustness to the displacement of the payload, the change of the gantry crane parameters and the external disturbance.

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34

Tang, Ya Ping, Hai Bo Wu, and Hai Long Liu. "The Wireless Monitoring System of Shipbuilding Gantry Cranes Based on S3C6410." Applied Mechanics and Materials 716-717 (December 2014): 965–69. http://dx.doi.org/10.4028/www.scientific.net/amm.716-717.965.

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For the insufficient of the present monitoring and control system of the crane in communication mode, monitoring data and data is stored; the system of gantry crane safety monitoring and control based on S3c6410 ARM11 is designed in this paper. The Zigbee wireless networking is used to collect and deal with the distributed sensor monitoring, and it can find the problems and to control in the shortest time. To realize the "black box" record function, the SQLite3.0 embedded database is transplanted to real-time storage the Critical data. It is confirmed that the system operation is stable and reliable that can guarantee the monitoring and control system operation security and improving work efficiency, and it has a good application prospect.

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35

Odnokopylov, I. G., V. V. Gneushev, O. V. Galtseva, N. M. Natalinova, J. Li, and D. I. Serebryakov. "The control system of synchronous movement of the gantry crane supports." Journal of Physics: Conference Series 803 (January 2017): 012110. http://dx.doi.org/10.1088/1742-6596/803/1/012110.

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36

Hai, Nguyen Huu, Nguyen Dang Toan, Nguyen Ba Kha, Mai The Thang, and Tran Thi Hong Tham. "Nonlinear Control of a Gantry Crane System with Limited Payload Angle." International Journal of Electrical and Electronics Engineering 5, no. 8 (August 25, 2018): 6–10. http://dx.doi.org/10.14445/23488379/ijeee-v5i8p102.

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37

Jolevski, Danijel, and Ozren Bego. "Model predictive control of gantry/bridge crane with anti-sway algorithm." Journal of Mechanical Science and Technology 29, no. 2 (February 2015): 827–34. http://dx.doi.org/10.1007/s12206-015-0144-8.

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38

Zhong, Bin, and Ren Jun Zhan. "Load’s Damping Swing by Trolley’s Driving Force Control for Overhead or Gantry Crane." Advanced Materials Research 346 (September 2011): 875–81. http://dx.doi.org/10.4028/www.scientific.net/amr.346.875.

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In order to obtain the trolley-load system’s dynamic equations for overhead crane or gantry crane, analyzed the dynamic system and deduced the transfer function between the load’s sway angle and the force acting on the trolley from dynamic equations. The force control mode for load’s damping swing is an effective measure of compensation for active anti-swing. Dynamic simulation results show that the optimal evacuation time of the force acting on the trolley is a key parameter that affects the damping swing’s effect. The load’s damping swing effect is favorable when the driving force is withdrawn at optimal withdrawing time; the load’s swing angle’s amplitude will increase with driving force’s increase, but the damping swing effect is still favorable if the optimal withdrawing time is favorably controlled.

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39

Duda, Sławomir, Krzysztof Kawlewski, and Grzegorz Gembalczyk. "Concept of the System for Control over Keeping up the Movement of a Crane." Solid State Phenomena 220-221 (January 2015): 339–44. http://dx.doi.org/10.4028/www.scientific.net/ssp.220-221.339.

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The article presents one of the concepts of the performance of keeping up the movement of a gantry behind the load. For reaching this solution, a PID controller has been applied. The worked out control algorithm has been implemented and tested employing a 3D Crane 3D. The results of experimental research have been compared with the findings of numerical simulations.

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40

Aktas, Ayhan, Hakan Yazici, and Mert Sever. "LMI-based design of an I-PD+PD type LPV state feedback controller for a gantry crane." Transactions of the Institute of Measurement and Control 41, no. 6 (August 8, 2018): 1640–55. http://dx.doi.org/10.1177/0142331218785683.

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In this paper, an alternative gain-scheduled PID tuning procedure is proposed for gantry crane control systems. In order to avoid excessive overshoot and aggressive control action due to the proportional kick and/or derivative kick effects, an I-PD+PD type control law is considered. The scheduling parameter is considered the cable length due to the payload lifting and lowering movements. A linear parameter-varying (LPV) gantry crane model is constructed to enable gain-scheduled controller design with a linear matrix inequalities (LMIs) framework. Based on the LPV model, a convex optimization problem is formulized to minimize L2 gain under regional pole location constraints. Then, a fixed gain L2 gain state feedback I-PD+PD type controller and a conventional pole placement state feedback I-PD+PD controller are designed to investigate the efficiency of the proposed controller. A pole placement controller is tuned to minimize the very common ITAE (integral of time multiplied by absolute error) performance index. Simulation results show that the proposed controller has superior tracking performance under time-varying cable length, when compared with nominal fixed gain controllers.

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41

Huang, Guo Jian, Dong Hui Wang, Wei Xiong Wang, and Xin Hua Wang. "Structural Health Monitoring of Gantry Crane Based on EDGE Technology." Applied Mechanics and Materials 333-335 (July 2013): 1629–34. http://dx.doi.org/10.4028/www.scientific.net/amm.333-335.1629.

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The closely combination of Internet of Things and on-site monitoring and control technology is the development tendency of the site monitoring and control technology, especially the special equipment safety monitoring technology. EDGE technology is one way of Internet of Things technology realization. EDGE technology is a digital mobile phone technology which allows improved data transmission rates as a backward-compatible extension of GSM. It is also considered as a pre-3G (2.75G) radio technology and is part of ITU's 3G definition. It is used as one of the aims of the project which allows the operators to keep abreast of the crane operation status. Then a software platform is developed to monitor the real-time stress. A software platform is developed via a lot of preliminary work as mentioned above. The information is collected by FBG sensors and transmitted to the demodulator, and then the software calculates strain by a formula given in. Finally we acquire the real-time stress in different parts of the crane. If the real-time stress exceeds the allowable stress, it issues an alarm signal to the operator.

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42

Entessari, Farshid, Ali Najafi Ardekany, and Aria Alasty. "Exponential stabilization of flexural sway vibration of gantry crane via boundary control method." Journal of Vibration and Control 26, no. 1-2 (September 18, 2019): 36–55. http://dx.doi.org/10.1177/1077546319876147.

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This paper aims to develop a boundary control solution for complicated gantry crane coupled motions. In addition to the large angle sway motion, the crane cable has a flexural transverse vibration. The Hamilton principle has been utilized to derive the governing partial differential equations of motion. The control objectives which are sought include: moving the payload to the desired position; reducing the payload swing with large sway angle; and finally suppressing the cable transverse vibrations in the presence of boundary disturbances simultaneously. These simultaneous boundary control objectives make the problem challenging. The proposed control approach is based on the original nonlinear hybrid partial differential equation–ordinary differential equation model without any simplifications of sway motion nonlinearities, coupling effects, and the effect of gravitational force. Using the Lyapunov method, a boundary control law has been designed which guarantees the exponential stability and uniform boundedness of the closed-loop system. In order to demonstrate the effectiveness of the proposed control method, numerical simulation results are provided by applying the finite difference method.

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43

M, Nazemizadeh. "A COMPARISON BETWEEN CONTINUOUS AND DISCRETE OPTIMAL CONTROL OF A GANTRY CRANE." International Journal on Intelligent Electronic Systems 7, no. 1 (2013): 24–28. http://dx.doi.org/10.18000/ijies.30121.

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44

Wahyudi, Jamaludin Jalani, Riza Muhida, and Momoh Jimoh Emiyoka Salami. "Control Strategy for Automatic Gantry Crane Systems: A Practical and Intelligent Approach." International Journal of Advanced Robotic Systems 4, no. 4 (December 2007): 46. http://dx.doi.org/10.5772/5669.

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45

Bakhtiari-Nejad, Firooz, Mostafa Nazemizadeh, and Hanieh Arjmand. "Tracking Control of an Underactuated Gantry Crane using an Optimal Feedback Controller." International Journal of Automotive and Mechanical Engineering 7 (June 30, 2013): 830–39. http://dx.doi.org/10.15282/ijame.7.2012.3.0068.

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46

KANG, Zibo, Seizo FUJII, Chaojun ZHOU, and Kazuya OGATA. "Adaptive Control of a Planar Gantry Crane by the Switching of Controllers." Transactions of the Society of Instrument and Control Engineers 35, no. 2 (1999): 253–61. http://dx.doi.org/10.9746/sicetr1965.35.253.

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47

Ospina-Henao, P. A., and Framsol López-Suspes. "Dynamic analysis and control PID path of a model type gantry crane." Journal of Physics: Conference Series 850 (June 2017): 012004. http://dx.doi.org/10.1088/1742-6596/850/1/012004.

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48

Maghsoudi, MJ, Z. Mohamed, MO Tokhi, AR Husain, and MSZ Abidin. "Control of a gantry crane using input-shaping schemes with distributed delay." Transactions of the Institute of Measurement and Control 39, no. 3 (July 22, 2016): 361–70. http://dx.doi.org/10.1177/0142331215607615.

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This paper presents simulation and real-time implementation of input-shaping schemes with a distributed delay for control of a gantry crane. Both open-loop and closed-loop input-shaping schemes are considered. Zero vibration and zero vibration derivative input shapers are designed for performance comparison in terms of trolley position response and level of sway reduction. Simulation and experimental results have shown that all the shapers are able to reduce payload sway significantly while maintaining satisfactory position response. Investigations with different cable lengths that correspond to ±20% changes in the sway frequency have shown the distributed delay-based shaper has asymmetric robustness behaviour. The shaper provides highest robustness for the case of 20% increase in the sway frequency but lower robustness for the case of 20% decrease. However, other schemes give symmetric robustness behaviour for both cases.

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49

MIEN, TRINH LUONG. "Adaptive fuzzy sliding mode control for gantry crane as varying rope length." International Journal of Engineering and Technology 8, no. 4 (August 31, 2016): 1784–91. http://dx.doi.org/10.21817/ijet/2016/v8i4/160804224.

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50

Park, Youn sik, and Ki Seong Lee. "MODIFIED INPUT SHAPING CONTROL OF A PLANAR GANTRY CRANE WITH LOAD HOISTING." Proceedings of the International Conference on Motion and Vibration Control 6.1 (2002): 343–48. http://dx.doi.org/10.1299/jsmeintmovic.6.1.343.

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