Precision-positioning adaptive controller for swing elimination in three-dimensional overhead cranes with distributed...

Area of Science:

• Robotics and Control Systems
• Mechanical Engineering
• Industrial Automation

Background:

• Overhead cranes are crucial for industrial transport but face challenges with complex payloads like distributed-mass beams (DMB).
• Existing controllers for point-mass payloads (PMP) are inadequate for DMB, leading to residual swing and positioning errors due to factors like moment of inertia and friction uncertainties.
• These limitations pose safety risks and reduce operational efficiency in industrial settings.

Purpose of the Study:

• To address the limitations of existing overhead crane controllers when handling distributed-mass beams (DMB).
• To develop and validate an improved adaptive controller capable of precise positioning and swing suppression for 3-D overhead crane systems with DMB.
• To enhance the safety and efficiency of industrial transport operations involving complex payloads.

Main Methods:

• Dynamic analysis of three-dimensional (3-D) overhead crane systems with distributed-mass beams (DMB).
• Design of an improved adaptive controller incorporating novel update laws to compensate for system uncertainties.
• Theoretical stability analysis of the proposed control system.
• Experimental verification through comparative studies to assess performance.

Main Results:

• The improved adaptive controller successfully achieves precise positioning of the trolley and guide rail along a tracking trajectory.
• Residual payload swing is effectively eliminated throughout the transport process, mitigating safety risks.
• The controller demonstrates robustness by compensating for uncertainties in the overhead crane system, including friction estimation errors.
• Comparative experiments confirm the superior performance of the proposed controller over existing methods.

Conclusions:

• The developed adaptive controller provides effective and stable control for 3-D overhead crane systems with distributed-mass beams (DMB).
• The controller enhances industrial transport by ensuring accurate positioning and eliminating payload swing, thereby improving safety and efficiency.
• The proposed control strategy offers a viable solution for overcoming the limitations of traditional controllers in complex payload scenarios.