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Transportation and swing reduction for double-pendulum tower cranes using partial enhanced-coupling nonlinear

Zheng Tian1, Lili Yu1, Huimin Ouyang1

  • 1College of Electrical Engineering and Control Science, Nanjing Tech University, No.30, Puzhu Road(s), Nanjing, 211816, China.

ISA Transactions
|December 6, 2020
PubMed
Summary
This summary is machine-generated.

This study introduces a novel controller to manage tower crane movements, addressing challenges like double-pendulum dynamics and actuator constraints. The controller ensures precise positioning and reduces unwanted swing, enhancing operational safety and efficiency.

Keywords:
Double-pendulum effectPartial enhanced-coupling controlSwing reductionTower craneUnderactuated system

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Area of Science:

  • Mechanical Engineering
  • Control Systems Engineering
  • Robotics

Background:

  • Tower cranes exhibit complex double-pendulum dynamics, complicating precise control of jib and trolley positioning.
  • Real-world applications face challenges including actuator saturation, model uncertainties, and external disturbances.

Purpose of the Study:

  • To design a robust nonlinear controller for tower cranes that addresses initial actuator saturation and dynamic complexities.
  • To improve both the positioning accuracy of the jib and trolley and reduce unwanted swing motions.

Main Methods:

  • A partial enhanced-coupling nonlinear controller was designed.
  • Lyapunov techniques and LaSalle's invariance theorem were employed for controller analysis.
  • Extensive simulations were conducted to validate performance.

Main Results:

  • The proposed controller effectively manages jib and trolley positioning.
  • Significant reduction in undesirable swing motion was achieved.
  • The controller demonstrated strong robustness against model uncertainties and external disturbances.

Conclusions:

  • The developed controller successfully overcomes the limitations of actuator saturation and complex dynamics in tower cranes.
  • The controller ensures reliable and accurate operation, enhancing overall system performance and safety.