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

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.