Abstract
Tower cranes are highly underactuated nonlinear systems with five degrees-of-freedom (trolley displacement, jib angle, cable length, payload swing angles), and only three control inputs (one for the trolley driving, another for the jib driving, and another for the cable length varying). The three main control objectives of tower crane systems are driving the trolley and the jib to the desired position and desired angle, respectively, hoisting the cable length to the desired length while suppressing and eliminating the payload swing angles. Therefore, the model of tower crane systems with varying cable lengths is established, and on this basis, an adaptive control with payload swing suppression is proposed in this paper. Lyapunov method and LaSalle’s invariance theorem are illustrated to prove the stability of the closed system and the convergence of the system states. Simulation results are provided to validate the superior performance of the proposed control method.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Zhang, M., Zhang, Y., Cheng, X.: An enhanced coupling PD with sliding mode control method for underactuated double-pendulum overhead crane systems. Int. J. Control Autom. Syst. 17(6), 1579–1588 (2019)
Zhang, M.: Finite-time model-free trajectory tracking control for overhead cranes subject to model uncertainties, parameter variations and external disturbances. Trans. Ins. Meas. Control. 41(12), 3516–3525 (2019)
Sun, N., Yang, T., Fang, Y., Wu, Y., Chen, H.: Transportation control of double-pendulum cranes with a nonlinear quasi-PID scheme: design and experiments. IEEE Trans. Syst. Man Cyber. Syst. 49(7), 1408–1418 (2019)
Vaughan, J., Kim, D., Singhose, W.: Control of tower cranes with double-pendulum payload dynamics. IEEE Trans. Control Syst. Technol. 18(6), 1345–1358 (2010)
Vaughan, J., Kim, D., Singhose, W.: Comparison of robust input shapers. J. Sound Vib. 315(4/5), 797–815 (2008)
Devesse, W., Ramteen, M., Feng, L., Wikander, J.: A real-time optimal control method for swing-free tower crane motions. In: IEEE International Conference on Automation Science and Engineering, Madison, WI, USA, pp. 336–341 (2013)
Ouyang, H., Hu, J., Zhang, G., Mei, L., Deng, X.: Decoupled linear model and s-shaped curve motion trajectory for load sway suppression control in overhead cranes with double-pendulum effect. Proc. Inst. Mech. Eng. Part C: J. Mech. Eng. Sci. (in press) https://doi.org/10.1177/0954406218819029
Omar, H.M., Nayfeh, A.H.: Gain scheduling feedback control of tower cranes with friction compensation. J. Vib. Control 10(2), 269–289 (2004)
Lee, G., Kim, H.H., Lee, C.J., Ham, S.I., Yun, S.H., Cho, H., Kim, B.K., Kim, G.T., Kim, K.: A laser-technology-based lifting-path tracking system for a robotic tower crane. Autom. Constr. 8(7), 865–874 (2009)
Böck, M., Kugi, A.: Real-time nonlinear model predictive path following control of a laboratory tower crane. IEEE Trans. Control Syst. Technol. 22(4), 1461–1473 (2014)
Duong, S.C., Uezato, E., Kinjo, H., Yamamoto, T.: A hybrid evolutionary algorithm for recurrent neural network control of a three-dimensional tower crane. Autom. Constr. 23, 55–63 (2012)
Sun, N., Fang, Y., Chen, H., Lu, B., Fu, Y.: Slew/translation positioning and swing suppression for 4-DOF tower cranes with parametric uncertainties: design and hardware experimentation. IEEE Trans. Ind. Electr. 63(10), 6407–6418 (2016)
Khalil, H.K.: Nonlinear Systems, 3rd edn. Prentice-Hall, Englewood Cliffs (2002)
Zhang, M., Zhang, Y., Chen, H., Cheng, X.: Model-independent PD-SMC method with payload swing suppression for 3D overhead crane systems. Mech. Syst. Sig. Process., 129, 381-393 (2019)
Yang, T., Sun, N., Chen, H., Fang, Y.: Neural network-based adaptive antiswing control of an underactuated ship-mounted crane with roll motions and input dead-zones. IEEE Transactions on Neural Networks and Learning Systems, in press. https://doi.org/10.1109/tnnls.2019.2910580
Liu, D., Yi, J., Zhao, D., Wang, W.: Adaptive sliding mode fuzzy control for a two-dimensional overhead crane. Mechatronics 15(5), 505–522 (2005)
Acknowledgement
This work is supported by the National Key R&D Program of China under Grant No. 2018YFB1305400, the Key Research and Development (Special Public-Funded Projects) of Shandong Province under Grant No. 2019GGX104058, the National Natural Science Foundation for Young Scientists of China under Grant No. 61903155, and the Natural Science Foundation of Shandong Province under Grant No. ZR2019QEE019.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Zhang, M., Zhang, Y., Ouyang, H., Ma, C., Cheng, X. (2020). Modeling and Adaptive Control for Tower Crane Systems with Varying Cable Lengths. In: Wang, R., Chen, Z., Zhang, W., Zhu, Q. (eds) Proceedings of the 11th International Conference on Modelling, Identification and Control (ICMIC2019). Lecture Notes in Electrical Engineering, vol 582. Springer, Singapore. https://doi.org/10.1007/978-981-15-0474-7_21
Download citation
DOI: https://doi.org/10.1007/978-981-15-0474-7_21
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-15-0473-0
Online ISBN: 978-981-15-0474-7
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)