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摘要
In practical applications, industrial cranes may exhibit double-pendulum swing effects, due to many factors, such as large payload scales and non-negligible hook masses. Currently, for double-pendulum cranes, most available methods are open-loop controllers designed based on linearized crane dynamics; even for existing closed-loop approaches, they are also mostly developed using linearized dynamics and require the exact knowledge of system parameters, which makes them sensitive to parametric uncertainties. To handle these issues, we present an adaptive antiswing control strategy for crane systems with double-pendulum swing effects and uncertain/unknown parameters, which can make the trolley accurately reach the target position with reduced overshoots and effectively eliminate the double-pendulum swing angles at the same time. A complete stability analysis, based upon the full nonlinear dynamics (i.e., without linearizing the dynamics), is included to support the theoretical derivations. We present hardware experimental results to demonstrate that the proposed controller achieves better performance than existing ones and exhibits good robustness. Note to Practitioners-This paper is motivated by the issue of controlling a crane system when double-pendulum swing effects are excited and present. The double-pendulum effects can happen in many practical scenarios and make the crane manual operation very challenging. Moreover, most existing crane control approaches are developed based upon single-pendulum crane models and they may not work normally in the presence of the double-pendulum phenomenon. In addition, usually, the model parameters, including rope length and trolley/hook/payload masses, are not exactly known in practice, which may badly degrade the performance of the control approaches requiring exact model knowledge. Toward this end, we suggest a new control method for cranes suffering from double-pendulum effects to achieve satisfactory performance. The presented control method is robust against parametric uncertainties and it can suppress the double-pendulum swing, reduce the trolley overshoots, and improve the efficiency. Preliminary physical experiments carried out on a double-pendulum crane hardware test bed indicate the effectiveness of the proposed method. In our future work, we will apply the suggested control approach to industrial crane systems to improve their working efficiency.
- 出版日期2018-7
- 单位南开大学
