Abstract
Gantry cranes are mostly regarded as single pendulum models to research. However, gantry cranes will produce a double pendulum effect during the actual operation when the hook mass or cable length between the load and hook cannot be ignored. Aiming at the problems of working inefficiency, poor positioning accuracy and violent hook/load swing during the lifting process of gantry cranes, an enhanced-coupling-based tracking control method is proposed. By referring to a smooth tracking trajectory, the proposed method ensures that the trolley runs steadily. And by combining with the passivity analysis of the gantry crane system, a coupling signal, which enhances the relationship between system variables, is constructed. The system stability is proved strictly by Barbarat theorem and Lyapunov method. Experiments and simulations are performed to demonstrate the feasibility of the proposed method. The final results reflect that the proposed method, which can not only ensure the precise positioning of the trolley, but also restrain and eliminate the system swings promptly, has excellent control performance. When the system parameters are changed or external disturbances are added, the proposed method can also obtain outstanding control performance and has excellent robustness. Not only does the proposed method provide an anti-swing strategy for double pendulum underactuated gantry cranes, but also it provides a possibility for the research and development of the automatic driving of gantry cranes, which has great practical significance and application prospects.
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This research was supported by the National Science Foundation of China (52075348), in part by the Key Laboratory of Vibration and Control of Aero-Propulsion System, Ministry of Education, Northeastern University (VCAME202001), in part by the Fund Project of Liaoning Provincial Department of Education (lnqn202009), and in part by the Science&Technology Planning Project of MOHURD (2019-K-080).
Huaitao Shi received his B.S. and Ph.D. degrees in control engineering from Northeastern University, Shenyang, China, in 2005, and 2012, respectively. He has been a Professor with the Faculty of Mechanical Engineering, Shenyang Jianzhu University, Shenyang, where he has also been the Vice Dean, since 2014. He is the author of more than 40 articles, (26 articles were indexed by SCI), and six patents. His current research interests include research on nonlinear underactuated system and hybrid ceramic ball-bearing.
Fuxing Yao was born in Binzhou, Shandong, in 1996. He received his B.S. degree in mechanical design, manufacturing and automation from University of Jinan, Jinan, China, in 2019. He is currently pursuing a Master’s degree in mechanical engineering with the School of Mechanical Engineering, Shenyang Jianzhu University, Shenyang, China. His research interest is automatic control of underactuated cranes.
Zhe Yuan received his Ph.D. degree in mechanical design from Northeastern University, Shenyang, China, in 2010. He has been a vice Professor with the Faculty of Mechanical Engineering, Shenyang Jianzhu University, Shenyang. His current research interests include research on nonlinear underactuated system and reliability of hybrid ceramic ball-bearing.
Yunjian Hu received his B.S. and Ph.D. degrees in control engineering from Northeastern University, Shenyang, China, in 2010, and 2020, respectively. He has been a lecturer with the Faculty of Mechanical Engineering, Shenyang Jianzhu University, Shenyang. His current research interests include cold-rolled strip rolling process control and the application of intelligent control in the rolling process, as well as the intelligent control of underactuated cranes.
Ke Zhang received his Ph.D. degree in mechanical manufacturing and automation from Northeastern University, Shenyang, China, in 2007. He has been a Professor with the Faculty of Mechanical Engineering, Shenyang Jianzhu University, Shenyang, where he has also been the Vice President, since 2018. He is the author of more than 210 articles. His main research interests include precision machining technology, construction equipment, and CNC equipment and technology.
Ling Fu is a researcher-level senior engineer. She is currently the chief engineer of Zoomlion, the dean of the Academia Sinica, and the director of the State Key Laboratory of Construction Machinery Key Technology. She is the author of more than 10 articles. Her research interests include mechanical equipment design and manufacturing technology research.
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Shi, H., Yao, F., Yuan, Z. et al. Enhanced-coupling-based Tracking Control of Double Pendulum Gantry Cranes. Int. J. Control Autom. Syst. 20, 2260–2272 (2022). https://doi.org/10.1007/s12555-021-0401-9
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DOI: https://doi.org/10.1007/s12555-021-0401-9