Gotowe bibliografie tematyczne / Gantry Crane Control

Gotowa bibliografia na temat „Gantry Crane Control”

Autor: Grafiati

Data publikacji: 4 czerwca 2021

Data aktualizacji: 1 lutego 2022

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Artykuły w czasopismach na temat "Gantry Crane Control"

Peng, Qihui, Wenming Cheng, Hongyu Jia i Peng Guo. "Fragility Analysis of Gantry Crane Subjected to Near-Field Ground Motions". Applied Sciences 10, nr 12 (19.06.2020): 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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Barva, P., i P. Horáček. "Control Methods for Gantry Crane". IFAC Proceedings Volumes 33, nr 31 (grudzień 2000): 225–30. http://dx.doi.org/10.1016/s1474-6670(17)37867-9.

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Almutairi, Naif B., i 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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Du, Wen Zheng, Zheng Xie, Fei Lu i Yuan Cao. "Gantry Crane Dynamic Modeling and Motion Control". Applied Mechanics and Materials 419 (październik 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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Lu, Meng Long, i Zheng Gui. "Horizontal Force on Tire Gantry Crane". Applied Mechanics and Materials 333-335 (lipiec 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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Zhang, Hai-yun, Jin Wang i 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, nr 7 (30.08.2013): 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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He, Kong De, Zi Fan Fang, Da Lin Zhu i Wei Hua Yang. "The Control System Model of Gantry Crane for Preventing Swing". Applied Mechanics and Materials 135-136 (październik 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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Kolar, Bernd, i Kurt Schlacher. "Flatness based Control of a Gantry Crane". IFAC Proceedings Volumes 46, nr 23 (2013): 487–92. http://dx.doi.org/10.3182/20130904-3-fr-2041.00056.

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Chen, Zhi Mei, Wen Jun Meng, Ming Hui Zhao i Jing Gang Zhang. "Hybrid Robust Control for Gantry Crane System". Applied Mechanics and Materials 29-32 (sierpień 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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O’Connor, William J. "A Gantry Crane Problem Solved". Journal of Dynamic Systems, Measurement, and Control 125, nr 4 (1.12.2003): 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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Rozprawy doktorskie na temat "Gantry Crane Control"

Omar, Hanafy M. "Control of Gantry and Tower Cranes". Diss., Virginia Tech, 2003. http://hdl.handle.net/10919/26044.

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The main objective of this work is to design robust, fast, and practical controllers for gantry and tower cranes. The controllers are designed to transfer the load from point to point as fast as possible and, at the same time, the load swing is kept small during the transfer process and completely vanishes at the load destination. Moreover, variations of the system parameters, such as the cable length and the load weight, are also included. Practical considerations, such as the control action power, and the maximum acceleration and velocity, are taken into account. In addition, friction effects are included in the design using a friction-compensation technique. The designed controllers are based on two approaches. In the first approach, a gain-scheduling feedback controller is designed to move the load from point to point within one oscillation cycle 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 calculation of the controller feedback gains for varying load weight and cable length. The position references for this controller are step functions. Moreover, the position and swing controllers are treated in a unified way. In the second approach, the transfer process and the swing control are separated in the controller design. This approach requires designing two controllers independently: an anti-swing controller and a tracking controller. The objective of the anti-swing controller is to reduce the load swing. The tracking controller is responsible for making the trolley follow a reference position trajectory. We use a PD-controller for tracking, while the anti-swing controller is designed using three different methods: (a) a classical PD controller, (b) two controllers based on a delayed-feedback technique, and (c) a fuzzy logic controller that maps the delayed-feedback controller performance. To validate the designed controllers, an experimental setup was built. Although the designed controllers work perfectly in the computer simulations, the experimental results are unacceptable due to the high friction in the system. This friction deteriorates the system response by introducing time delay, high steady-state error in the trolley and tower positions, and high residual load swings. To overcome friction in the tower-crane model, we estimate the friction, then we apply an opposite control action to cancel it. To estimate the friction force, we assume a mathematical model and estimate the model coefficients using an off-line identification technique using the method of least squares. With friction compensation, the experimental results are in good agreement with the computer simulations. The gain-scheduling controllers transfer the load smoothly without inducing an overshoot in the trolley position. Moreover, the load can be transferred in a time near to the optimal time with small swing angles during the transfer process. With full-state feedback, the crane can reach any position in the working environment without exceeding the system power capability by controlling the forward gain in the feedback loop. For large distances, we have to decrease this gain, which in turn slows the transfer process. Therefore, this approach is more suitable for short distances. The tracking-anti-swing control approach is usually associated with overshoots in the translational and rotational motions. These overshoots increase with an increase in the maximum acceleration of the trajectories . The transfer time is longer than that obtained with the first approach. However, the crane can follow any trajectory, which makes the controller cope with obstacles in the working environment. Also, we do not need to recalculate the feedback gains for each transfer distance as in the gain-scheduling feedback controller.
Ph. D.

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Costa, Giuseppe Electrical Engineering &amp Telecommunications Faculty of Engineering UNSW. "Robust Control For Gantry Cranes". Awarded by:University of New South Wales. Electrical Engineering and Telecommunications, 1999. http://handle.unsw.edu.au/1959.4/17609.

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In this thesis a class of robust non-linear controllers for a gantry crane system are discussed. The gantry crane has three degrees of freedom, all of which are interrelated. These are the horizontal traverse of the cart, the vertical motion of the goods (i.e. rope length) and the swing angle made by the goods during the movement of the cart. The objective is to control all three degrees of freedom. This means achieving setpoint control for the cart and the rope length and cancellation of the swing oscillations. A mathematical model of the gantry crane system is developed using Lagrangian dynamics. In this thesis it is shown that a model of the gantry crane system can be represented as two sub models which are coupled by a term which includes the rope length as a parameter. The first system will consist of the cart and swing dynamics and the other system is the hoist dynamics. The mathematical model of these two systems will be derived independent of the other system. The model that is comprised of the two sub models is verified as an accurate model of a gantry crane system and it will be used to simulate the performance of the controllers using Matlab. For completeness a fully coupled mathematical model of the gantry crane system is also developed. A detailed design of a gain scheduled sliding mode controller is presented. This will guarantee the controller's robustness in the presence of uncertainties and bounded matched disturbances. This controller is developed to achieve cart setpoint and swing control while achieving rope length setpoint control. A non gain scheduled sliding mode controller is also developed to determine if the more complex gain scheduled sliding mode controller gives any significant improvement in performance. In the implementation of both sliding mode controllers, all system states must be available. In the real-time gantry crane system used in this thesis, the cart velocity and the swing angle velocity are not directly available from the system. They will be estimated using an alpha-beta state estimator. To overcome this limitation and provide a more practical solution an optimal output feedback model following controller is designed. It is demonstrated that by expressing the system and the model for which the system is to follow in a non-minimal state space representation, LQR techniques can be used to design the controller. This produces a dynamic controller that has a proper transfer function, and negates the need for the availability of all system states. This thesis presents an alternative method of solving the LQR problem by using a generic eigenvalue solution to solve the Riccati equation and thus determine the optimal feedback gains. In this thesis it is shown that by using a combination of sliding mode and H??? control techniques, a non-linear controller is achieved which is robust in the presence of a wide variety of uncertainties and disturbances. A supervisory controller is also described in this thesis. The supervisory control is made up of a feedforward and a feedback component. It is shown that the feedforward component is the crane operator's action, and the feedback component is a sliding mode controller which compensates as the system's output deviates from the desired trajectory because of the operator's inappropriate actions or external disturbances such as wind gusts and noise. All controllers are simulated using Matlab and implemented in real-time on a scale model of the gantry crane system using the program RTShell. The real-time results are compared against simulated results to determine the controller's performance in a real-time environment.

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Al-Mousa, Amjed A. "Control of Rotary Cranes Using Fuzzy Logic and Time-Delayed Position Feedback Control". Thesis, Virginia Tech, 2000. http://hdl.handle.net/10919/36024.

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Rotary Cranes (Tower Cranes) are common industrial structures that are used in building construction, factories, and harbors. These cranes are usually operated manually. With the size of these cranes becoming larger and the motion expected to be faster, the process of controlling them became dicult without using automatic control methods. In general, the movement of cranes has no prescribed path. Cranes have to be run under dierent operating conditions, which makes closed-loop control preferable. In this work, two types of controllers are studied: fuzzy logic and time-delayed position feedback controllers. The fuzzy logic controller is introduced first with the idea of split-horizon; that is, to use some fuzzy engines for tracking position and others for damping load oscillations. Then the time-delayed position feedback method is applied. Finally, an attempt to combine these two controllers into a hybrid controller is introduced. Computer simulations are used to verify the performance of these controllers. An experimental setup was built on which the time-delayed position feedback controller was tested. The results showed good performance.
Master of Science

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Huang, Kuan-chun. "Integrated sensing, dynamics and control of a mobile gantry crane". Thesis, University of Edinburgh, 1997. http://hdl.handle.net/1842/14123.

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This thesis investigates the dynamics and control of a Rubber Tyred Gantry (RTG) crane which are commonly used in container handling operations. Both theoretical and experimental work has been undertaken to ensure the balance of this research. The concept of a Global Sensing System (GSS) is outlined, this being a closed loop automatic sensing system capable of guiding the lifting gear (spreader) to the location of the target container by using feedback signals from the crane's degrees of freedom. To acquire the crucial data for the coordinates and orientation of the swinging spreader a novel visual sensing system (VSS) is proposed. In addition algorithms used in the VSS for seeking the central coordinates of the clustered pixels from the digitised images are also developed. In order to investigate the feasibility of different control strategies in practise, a scaled-down, 1/8, experimental crane rig has been constructed with a new level of functionality in that the spreader in this rig is equipped with multiple cables to emulate the characteristics of a full-size RTG crane. A Crane Application Programming Interface (CAPI) has been proposed to reduce the complexity and difficulty in integrating the control software and hardware. It provides a relatively user-friendly environment in which the end-user can focus on implementing the more fundamental issues of control strategies, rather spending significant amounts of time in low-level device-dependent programming. A control strategy using Feedback Linearization Control (FLC) is investigated. This can handle significant non-linearity in the dynamics of the RTG crane. Simulation results are provided, and so by means of the CAPI this controller is available for direct control of the experimental crane rig. The final part of the thesis is an integration of the analyses of the different subjects, and shows the feasibility of the real-time implementation.

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Nayfeh, Nader Ali. "Adaptation of Delayed Position Feedback to the Reduction of Sway of Container Cranes". Thesis, Virginia Tech, 2002. http://hdl.handle.net/10919/9698.

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Cranes are increasingly used in transportation and construction. increasing demand and faster requirements necessitate better and more efficient controllers to guarantee fast turn-around time and to meet safety requirements. Container cranes are used extensively in ship-to-port and port-to-ship transfer operations. In this work, we will extend the recently developed delayed position feedback controller to container cranes. In contrast with traditional work, which models a crane as a simple pendulum consisting of a hoisting cable and a lumped mass at its end, we have modeled the crane as a four-bar mechanism. The actual configuration of the hoisting mechanism is significantly different from a simple pendulum. It consists typically of a set of four hoisting cables attached to four different points on the trolley and to four points on a spreader bar. The spreader bar is used to lift the containers. Therefore, the dynamics of hoisting assemblies of large container cranes are different from that of a simple pendulum. We found that a controller which treats the system as a four-bar mechanism has an improved response. We developed a controller to meet the following requirements: traverse an 80-ton payload 50 m in 21.5 s, including raising the payload 15 m at the beginning and lowering the payload 15 m at the end of motion, while reducing the sway to 50 mm within 5.0 s at the end of the transfer maneuver. The performance of the controller has been demonstrated theoretically using numerical simulation. Moreover, the performance of the controller has been demonstrated experimentally using a 1/10th scale model. For the 1/10th scale model, the requirements translate into: traverse an 80 kg payload 5 m in 6.8 s, including raising 1.5 m at the beginning and lowering 1.5 m at the end of motion, while reducing the sway to 5 mm in under 1.6 s. The experiments validated the controller.
Master of Science

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Zárate, Moya José Luis. "Tracking controller design for a nonlinear model of a gantry crane based on dynamic extension and robustification". Master's thesis, Pontificia Universidad Católica del Perú, 2015. http://tesis.pucp.edu.pe/repositorio/handle/123456789/6411.

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Overhead cranes are widely used in industry for transportation of heavy loads and are common industrial structures used in building construction, factories, and harbors, traditionally operated by experienced crane operators. The underlyng system consists of three main components: trolley, bridge, and gantry. Basically, the system is a trolley with pendulum. In normal operation, the natural sway of crane payloads is detrimental to the safe and efficient action. Other external disturbances parameters, wind for example, also affect the controller performance. Basically, a crane system is an underactuated system. This makes the design of its controllers complicated. Usually, this is done via the crane acceleration required for motion. The most important issues in crane motion are high positioning accuracy, short transportation time, small sway angle, and high safety. The main goal of this thesis is to achieve a robust controller design procedure, based on H∞ control theory, for a nonlinear model of a 3-D gantry crane system. The approach shall be compared with classic controllers in terms of attenuating the perturbation on the payload transportation. The model describes the position of the load, as well as the time derivatives of the position. In vew of this, flatness-based feedforward control has to be devised, accompanied by the design of an optimal linear and nonlinear feedback controller. The nomnal states can be used as optimization parameters and restrictions on stability, overshoot, position regulation, and oscillation angle, being independent of the load mass and depending on the rope length. The procedure is as follows. First, a dynamic nonlinear model of the system is obtained using the Lagrange equations of motion which describe the simultaneous travelling, crossing, lifting motions and the resultant load swing of the crane. Then, the system is exactly linearised by a dynamic extension. Next the closed-loop system, based on the linear quadratic regulator scheme, is probed and compared with the H∞ robust control system for compensating modeling errors and/or internal and external perturbation. Finally, simulation results are presented showing the efficiency of the proposed controller design scheme. Results are provided to illustrate the improved performance of the nonlinear controllers over classic pole placement and linear quadratic regulator approaches, testing its fast input tracking capability, precise payload positioning and minimal sway motion.
Kräne werden in der Industrie für den Transport schwerer Lasten eingesetzt. Man findet sie im Hochbau, Fabriken und Häfen. Traditionell werden sie von erfahrenen Kranführer betrieben. Das der Arbeit zugrunde liegende Kransystem besteht aus drei Hauptkomponenten: Transporteinheit, Brücke und Gerüst. Im Regelbetrieb ist das Schwingen von Krannutzlasten einer sicheren und effizienten Nutzung abträglich. Auch andere externe Störparameter wie beispielsweise der Wind haben einen Einfluss auf die Kontrollierbarkeit eines Krans. Grundsätzlich ist ein Kransystem ein unteraktuiertes System. Deshalb verkompliziert sich im Allgemeinen der Entwurf einer Regelung, meist auf Basis der Kranbeschleunigung. Regelziele bei der Kranbewegung sind u.a. eine hohe Positioniergenauigkeit, kurze Transportzeit, kleine Pendelwinkel und hohe Sicherheit. Das Hauptziel dieser Diplomarbeit ist der Entwurf einer robusten Reglung, gründend auf der H∞-Regelungsttheorie, für ein nichtlineares Modell eines 3-D-Portalkran- Systems. Das Verfahren soll mit dem klassischen Controllerdesign verglichen und resultierende Regelungsprobleme infolge von Störungen im Nutzlasttransport untersucht werden. Das Modell beschreibt die Position der Last sowie deren zeitliche Ableitungen. Davon kann das Problem für den Entwurf einer flachheitsbasierten Vorsteuerung abgeleitet werden, die dann mit einer optimalen, linearen bzw. nichtlinearen Regelung verbunden wird. Die nominalen Zustände können als Optimierungsparameter und Beschränkungen für die Stabilität, Überschwingen, Positionsregelung und Schwingungswinkel verwendet werden, unabhängig von der Lastmaße und in Abhängigkeit von der Seillänge. Dabei wird wie folgt vorgegangen: Zunächst wird ein nichtlineares Systemmodell mit Hilfe der Lagrange-Gleichungen erstellt. Dann wird das System mit Hilfe einer dynamischen Erweiterung exakt linearisiert. Als nächstes wird der geschlossene Regelkreis auf Basis der linear-quadratischen Regelung untersucht und mit einer robusten H∞ Regelung zur Kompensation von Modellierungsfehlern oder systeminterner und -externe Störung verglichen. Schließlich werden Simulationsergebnisse vorgestellt, welche die Wirksamkeit des Entwurfes belegen. Ein Ergebnis st dabei die verbesserte Leistung des nichtlinearen Reglers gegenüber dem klassischen Regler. Dies wird anhand einer Fähigkeit zu Verfolgung einesr schnellen Bahn, der Präzision der Positionierung und der minimalen Einflussbewegung der Nutzlast dargestellt.
Tesis

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Souza, Edson José Cardoso de. "Controle anti-oscilatório de tempo mínimo para guindaste usando a programação linear". Universidade de São Paulo, 2009. http://www.teses.usp.br/teses/disponiveis/3/3139/tde-21122009-133032/.

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O problema de transferir uma carga ao se movimentar num plano em tempo mínimo e sem oscilação no ponto de descarga, num guindaste portuário tipo pórtico é investigado neste trabalho. Assume-se que a carga esteja inicialmente em repouso na posição vertical no ponto de carga acima do navio e igualmente em repouso no ponto de descarga na moega de alimentação no porto. Assume-se também que o carro do guindaste esteja em repouso em ambos os pontos. Um modelo completo é apresentado para o sistema do guindaste onde as equações dinâmicas não-lineares são linearizadas para ângulos de oscilação pequenos o suficiente e reescritas para a forma adimensional. A solução de tempo mínimo é buscada considerando como variáveis de controle as funções do tempo que descrevem tanto a força aplicada no carro para produzir seu deslocamento horizontal, como a velocidade de içamento da carga. Um método iterativo preditor-corretor usando a Programação Linear (PL) é proposto, baseado no modelo do sistema de tempo discreto onde as variáveis de controle são tomadas constantes por trechos. Na etapa corretora, assume-se que o movimento de içamento é dado e uma solução de tempo mínimo é obtida resolvendo-se uma seqüência de problemas de PL de tempo fixo e máximo deslocamento. Na etapa preditora, um modelo linearizado é empregado para obter-se uma correção ótima do movimento de içamento usando a PL. O problema de controle de tempo mínimo é formulado levando-se em consideração restrições práticas na velocidade do carro do guindaste, velocidade máxima de içamento, assim como na máxima força que pode ser aplicada ao carro. Resultados numéricos são apresentados e mostram a efetividade do método.
The problem of minimum-time anti-swing transfer of a load in a ship-to-pier gantry crane is investigated in this work. The load is assumed to be initially at rest at the vertical position at the loading point above the ship and equally at rest at the unloading point above the hopper. The trolley is also assumed to be at rest at both points. A complete model is presented for the crane system where the nonlinear dynamic equations are linearized for sufficiently small swing angles and then rewritten in dimensionless form. The minimum-time solution is sought by considering as control variables both the force applied on the trolley that produces its horizontal motion and the hoisting speed of the load as functions of time. A predictor-corrector iterative method using Linear Programming (LP) is proposed based on a discretetime model of the system where the control variables are taken as stepwise constants. At the corrector step, the hoisting motion is assumed given and a minimum-time solution is obtained by solving a sequence of LP problems representing fixed-time maximum-range problems. At the predictor step, a linearized model is employed to obtain an optimal correction of the hoisting motion using LP. The minimum-time control problem is formulated by taking into account practical constraints on the maximum speeds of both the trolley and the load hoisting, as well as on the maximum force that can be applied to the trolley. Numerical results are presented and show the effectiveness of the method.

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Costa, Giuseppe. "Robust control for gantry cranes /". 1999. http://www.library.unsw.edu.au/~thesis/adt-NUN/public/adt-NUN2000.0009/index.html.

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Części książek na temat "Gantry Crane Control"

Kolar, Bernd, i Kurt Schlacher. "Nonlinear Control of a Gantry Crane". W Computer Aided Systems Theory - EUROCAST 2013, 289–96. Berlin, Heidelberg: Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-53862-9_37.

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Isa, Abdulbasid Ismail, Mukhtar Fatihu Hamza, Yusuf Abdullahi Adamu i Jamilu Kamilu Adamu. "Position and Swing Angle Control of Nonlinear Gantry Crane System". W Lecture Notes in Electrical Engineering, 37–47. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-33-4597-3_4.

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Zhu, F., M. Zhou, J. Huang i J. Huang. "The network control technology of the shipbuilding gantry crane based on PLCs". W Machinery, Materials Science and Engineering Applications, 45–52. CRC Press/Balkema P.O. Box 11320, 2301 EH Leiden, The Netherlands: CRC Press/Balkema, 2016. http://dx.doi.org/10.1201/9781315375120-8.

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Mora P., Zuly Alexandra, Andrés Camilo Castaño Rivillas, James Guillermo Moncada B., Deisy Carolina Páez i Paolo Andres Ospina-Henao. "Displacement Dynamics and Simulation for Overhead Gantry Crane Using Servo Control System". W Communications in Computer and Information Science, 114–25. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-31019-6_10.

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Hong, Keum-Shik, i Umer Hameed Shah. "Lumped Mass Models of Gantry Cranes". W Dynamics and Control of Industrial Cranes, 11–34. Singapore: Springer Singapore, 2019. http://dx.doi.org/10.1007/978-981-13-5770-1_2.

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Kharola, Ashwani. "Control Optimisation of Overhead Gantry Cranes via Fuzzy Controllers". W Handbook of Research on Advancements in Manufacturing, Materials, and Mechanical Engineering, 302–21. IGI Global, 2021. http://dx.doi.org/10.4018/978-1-7998-4939-1.ch014.

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This study considers a fuzzy logic-based reasoning approach for control and optimising performance of overhead gantry crane. The objective of this study is to minimise load swing and to stabilise the crane 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 ranges. 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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Zhu, F., M. Zhou, J. H. Huang i J. H. Huang. "The network control technology of the shipbuilding gantry crane based on PLCs". W Machinery, Materials Science and Engineering Applications, 45–52. CRC Press, 2017. http://dx.doi.org/10.1201/9781315375120-9.

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Streszczenia konferencji na temat "Gantry Crane Control"

Fernandez Villaverde, Alejandro, Cesareo Raimundez Alvarez i Antonio Barreiro Blas. "Passive teleoperation of a gantry crane". W European Control Conference 2007 (ECC). IEEE, 2007. http://dx.doi.org/10.23919/ecc.2007.7068688.

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de Moura Oliveira, P. B., i J. Boaventura Cunha. "Gantry crane control: A simulation case study". W 2013 2nd Experiment@ International Conference (exp.at'13). IEEE, 2013. http://dx.doi.org/10.1109/expat.2013.6703030.

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Wang, Zhonghua, i Brian Surgenor. "Performance Evaluation of the Optimal Control of a Gantry Crane". W ASME 2003 International Mechanical Engineering Congress and Exposition. ASMEDC, 2003. http://dx.doi.org/10.1115/imece2003-41996.

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For a gantry crane, optimal control of the crane motion requires that the speed of the cart be maximized, and the swing of the hanging payload be minimized. The problem lends itself naturally to optimal linear quadratic (LQ) controllers. This paper examines the performance of four different approaches to the design of an LQ controller, including two optimization approaches as based on: 1) minimal energy of cart and payload and 2) integrated absolute error of payload angle. Both simulation and experimental results are presented. A demonstration is also given as to how the results taken from laboratory scale gantry crane experiments must be treated with caution. Laboratory based studies have generally worked with systems where the moving cart mass is much larger than the suspended payload mass. In the case of industrial scale gantry cranes, the reverse can be true. This has implications with respective to the robustness of the controller. In the case where the cart mass is much greater than the payload mass, the effect of the payload on the cart is correctly neglected. However, there are stability implications if this is not the case. The implications with respect to the tuning of LQ controllers for this application are discussed.

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Wang, Zhonghua, i Brian Surgenor. "Performance Evaluation of the Optimal Control of a Gantry Crane". W ASME 7th Biennial Conference on Engineering Systems Design and Analysis. ASMEDC, 2004. http://dx.doi.org/10.1115/esda2004-58476.

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Stepanic, Pavle, Aleksa Krosnjar, Goran Pavlovic i Aleksandar Stepanovic. "Implementation of wireless control on electrical bridge cranes and gantry crane". W 2015 23rd Telecommunications Forum Telfor (TELFOR). IEEE, 2015. http://dx.doi.org/10.1109/telfor.2015.7377559.

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Vukosavljev, Marijan, i Mireille E. Broucke. "Control of a gantry crane: A reach control approach". W 2014 IEEE 53rd Annual Conference on Decision and Control (CDC). IEEE, 2014. http://dx.doi.org/10.1109/cdc.2014.7039950.

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Golovin, Ievgen, i Stefan Palis. "Control-based damping of elastic gantry crane vibrations". W 2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR). IEEE, 2017. http://dx.doi.org/10.1109/mmar.2017.8046896.

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Benn, L., B. Burton, J. Ireland, Sen Wang i R. Harley. "Model gantry crane with dynamic feedback swing control". W 2004 IEEE International Symposium on Industrial Electronics. IEEE, 2004. http://dx.doi.org/10.1109/isie.2004.1571818.

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Masoud, Ziyad N., Khalid A. Alhazza, Majed A. Majeed i Eiyad A. Abu-Nada. "A Hybrid Command-Shaping Control System for Highly Accelerated Double-Pendulum Gantry Cranes". W ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/detc2009-87501.

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A gantry cranes is generally modeled as a simple-pendulum with a point mass attached to the end of a massless rigid link. Numerous control systems have been developed to reduce payload oscillations in order to improve safety and positioning accuracy of crane operations. However, large-size payloads transforms the crane model from a simple-pendulum system to a double-pendulum system. Control systems that consider only one mode of oscillations of a double-pendulum may excite large oscillations in the other mode. In multi-degrees-of-freedom systems, command-shaping controllers designed for the first mode may eliminate oscillations of higher modes provided that their frequencies are odd integer multiples of the first mode frequency. In this work, a hybrid command-shaping controller is designed to generate acceleration commands to suppress travel and residual oscillations of a highly accelerated double-pendulum gantry crane. It is shown that the suggested hybrid command-shaper is capable of minimizing oscillations of both modes of a scaled experimental double-pendulum model of a gantry crane. Results show that the hybrid command-shaper produces a reduction of 95% in residual oscillations in both modes of the double-pendulum over the time-optimal rigid-body commands.

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Correia, Ana, Bruno Amaro, Emanuel Junior, Joao Barbosa, Tiago Pinto, Estela Bicho, Filomena Soares i Paulo Moura Oliveira. "Teaching/learning PBL activity: Gantry crane control system implementation". W 2017 25th Mediterranean Conference on Control and Automation (MED). IEEE, 2017. http://dx.doi.org/10.1109/med.2017.7984243.

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