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Enhanced-coupling nonlinear controller design for load swing suppression in three-dimensional overhead cranes with

Huimin Ouyang1, Bingqing Zhao1, Guangming Zhang1

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

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Summary

This study introduces a novel nonlinear control strategy for three-dimensional overhead cranes, addressing the complex double-pendulum effect. The new method enhances control performance and ensures system stability for precise positioning and swing angle suppression.

Keywords:
Double-pendulum effectEnhanced-coupling nonlinear controlSwing suppression controlThree-dimensional overhead craneUnderactuated system

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Area of Science:

  • Control Systems Engineering
  • Robotics
  • Mechanical Engineering

Background:

  • Most overhead crane control strategies focus on 2D/3D systems with a single pendulum effect.
  • Practical 3D overhead crane systems frequently exhibit a more complex double-pendulum effect.
  • The double-pendulum effect presents greater control challenges compared to the single-pendulum system.

Purpose of the Study:

  • To propose a new nonlinear control strategy for 3D overhead crane systems.
  • To address the challenges posed by the double-pendulum effect in practical applications.
  • To enhance the coupling between trolley speed and swing angle for improved control.

Main Methods:

  • Development of a novel nonlinear control strategy.
  • Introduction of an energy-like function incorporating generalized signals.
  • Design of signals to represent trolley speed and hook/load swing angles.

Main Results:

  • The proposed strategy significantly improves transient control effectiveness.
  • Asymptotic stability of the closed-loop system is guaranteed.
  • Achieved desired trolley positioning and effective swing angle suppression.

Conclusions:

  • The new nonlinear control strategy effectively manages the double-pendulum effect in 3D overhead cranes.
  • The approach ensures system stability while achieving precise control objectives.
  • This enhances the practical applicability of advanced control techniques for overhead crane systems.