Wire rope tension control of hoisting systems using a robust nonlinear adaptive backstepping control scheme

Area of Science:

• Engineering
• Control Systems
• Mechanical Systems

Background:

• Double-rope winding hoisting systems (DRWHS) require precise wire rope tension control for safe and efficient operation.
• Parameter uncertainties and external disturbances in DRWHS can degrade control performance and system stability.
• Existing control methods, such as proportional-integral (PI) controllers, may not adequately address these challenges.

Purpose of the Study:

• To develop and validate a novel robust nonlinear adaptive backstepping controller (RNABC) combined with a nonlinear disturbance observer (NDO) for DRWHS.
• To improve the wire rope tension coordination control performance of DRWHS under parameter uncertainties and external disturbances.
• To demonstrate the superiority of the proposed controller over conventional methods through experimental validation.

Main Methods:

• Development of a dynamic model for the DRWHS, incorporating parameter uncertainties and external disturbances.
• Design of a robust nonlinear adaptive backstepping controller (RNABC) with online parameter adaptation based on Lyapunov stability theory.
• Integration of a nonlinear disturbance observer (NDO) to estimate and compensate for external disturbances.
• Experimental validation using an xPC rapid prototyping system for the DRWHS.

Main Results:

• The dynamic model accurately represents the DRWHS behavior, validated by comparing simulation and experimental results.
• The proposed RNABC combined with NDO effectively manages wire rope tensions, considering parameter uncertainties.
• Experimental results demonstrate superior performance of the proposed controller compared to conventional PI and adaptive backstepping controllers.
• The controller ensures closed-loop system stability and excellent control performance.

Conclusions:

• The proposed robust nonlinear adaptive backstepping controller with a nonlinear disturbance observer offers a significant advancement in DRWHS wire rope tension control.
• The controller's ability to handle parameter uncertainties and external disturbances ensures robust and stable operation.
• This approach provides a more effective solution for tension coordination control in DRWHS compared to existing methods.