Modeling and anti-sway control method for vertical lift-up/lay-down process of slender-beam payload

Area of Science:

• Robotics and Control Systems
• Mechanical Engineering
• Structural Dynamics

Background:

• Traditional crane control focuses on payload sway during horizontal transport.
• Vertical lift-up/lay-down of slender beam payloads (SBPs) presents unique challenges, with one end grounded, making them susceptible to sway from external disturbances.
• Applications include wind turbine tower installation, rocket assembly, and pipeline laying.

Purpose of the Study:

• To develop a novel control strategy for mitigating oscillations during the vertical lift-up/lay-down of SBPs.
• To address the specific dynamic challenges posed by ground contact during lifting operations.
• To enhance the stability and precision of heavy, slender payload manipulation.

Main Methods:

• Establishment of a nonlinear three-dimensional dynamic model for the SBP during vertical lift-up/lay-down.
• Implementation of a non-singular terminal sliding mode control (NTSMC) strategy.
• Stability analysis of the NTSMC using the Lyapunov method.

Main Results:

• The proposed NTSMC effectively suppresses oscillations in the SBP during the vertical lift-up/lay-down process.
• Simulations demonstrated the control method's capability to manage sway.
• Experimental validation confirmed the practical effectiveness of the NTSMC approach.

Conclusions:

• The developed NTSMC provides a robust solution for controlling slender beam payloads during vertical lifting operations.
• This method enhances safety and precision in critical industrial applications involving large structures.
• The study validates the efficacy of NTSMC through both simulation and real-world experiments.