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Real-Time Robust and Optimized Control of a 3D Overhead Crane System.

Arash Khatamianfar1, Andrey V Savkin2

  • 1School of Electrical Engineering and Telecommunications, University of New South Wales, Sydney, NSW 2052, Australia.

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Summary
This summary is machine-generated.

This study introduces an advanced discrete-time control system for 3D overhead cranes, minimizing load swings during high-speed operations. The novel approach ensures precise trajectory tracking and efficient load transportation.

Keywords:
3D overhead cranecomputed torque controlfeedforward controlhigh-gain observers for robotic systemsmotion planningpassivity and ℒ2 stabilityposition sensorsrobot controlrobotic systems modelingtrajectory tacking

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Area of Science:

  • Robotics and Control Systems
  • Mechanical Engineering
  • Automation Technology

Background:

  • Overhead cranes require precise control for efficient and safe operation, especially during high-speed movements.
  • Minimizing load sway is critical to prevent damage and ensure operational safety.
  • Existing control systems often struggle with nonlinear dynamics and achieving high-speed trajectory tracking simultaneously.

Purpose of the Study:

  • To propose a new discrete-time state feedback control system for 3D overhead cranes.
  • To achieve high-performance trajectory tracking with minimal load swings during high-speed motions.
  • To develop a robust control strategy that accounts for nonlinear dynamics and system constraints.

Main Methods:

  • Developed a simplified crane model using an independent joint control strategy.
  • Designed a feedforward controller using computed torque control to manage nonlinear dynamics as disturbances.
  • Implemented a novel load swing control and motion planning scheme with updated reference trolley accelerations.

Main Results:

  • The proposed system achieves high-performance trajectory tracking for 3D overhead cranes.
  • Significantly minimized load swings even during high-speed crane movements.
  • Validated the discrete-time control system's stability and performance analytically and practically.

Conclusions:

  • The advanced discrete-time control system effectively addresses challenges in 3D overhead crane operation.
  • The independent joint control and computed torque techniques provide robust disturbance rejection.
  • The integrated motion planning and load swing control enable fast, safe, and precise load transportation.