The aim of this work is to propose a flatness control of a crane detailing adopted mechanisms and approaches in order to be able to control this system and to solve problems encountered during its functioning. The control objective is the sway-free transportation of the crane’s load taking the commands of the crane operator into account. Based on the mathematical model linearizing and stabilizing control laws for the slewing and luffing motion are derived using the input/output linearization approach. The method allows for transportation of the payload to a selected point and ensures minimisation of its swings when the motion is finished. To achieve this goal a mathematical model of the control system of the displacement of the payload has been constructed. A theory of control which ensures swing-free stop of the payload is presented. Selected results of numerical simulations are shown. At the end of this work, a comparative study between the real moving and the desired one has been presented.
| Published in | Automation, Control and Intelligent Systems (Volume 1, Issue 1) |
| DOI | 10.11648/j.acis.20130101.11 |
| Page(s) | 1-6 |
| Creative Commons |
This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited. |
| Copyright |
Copyright © The Author(s), 2013. Published by Science Publishing Group |
Crane, Flatness Control, Path Planning, Path Tracking
| [1] | A. Chelouah, E. Delaleau, P. Martin and P.Rouchon, Diffe-rential flatness and control of induction motors, symposium on Control, Optimization and Supervision; Computational engineering in system applications, IMACS Multiconference, pp. 80-85, Lille, 9-12 July 1996. |
| [2] | T. Burg, D. Dawson, C. Rahn, and W. Rhodes."Nonlinear control of an overhead crane via the saturating control ap-proach of Teel". In Proceedings of the Internationl Confe-rence on Robotics and Automation, pages 3155–3160, 1996. |
| [3] | H. Butler, G. Honderd, et J. Van Amerongen." Model refer-ence adaptive of a gantry crane scale model". IEEE Control system Magazine, pages 57-62, January 1991. |
| [4] | J. Collado, R. Lozano, and I. Fantoni. "Control of a convey-crane based on passivity". In Proceedings of the American Control Conference, pages 1260–1264, 2000. |
| [5] | M. Fliess, J. Lévine, P. Martin, P. Rouchon. "Flatness and defect of non-linear systems": introductory theory and ex-amples, INT. J. Control,1995, Vol. 61, No. 6, 1327-1361. |
| [6] | M. Fliess, J. Lévine, Ph. Martin and P. Rouchon, On diffe-rentially flat nonlinear systems, IFAC-Synopsium, NOL-COS’92 pp. 408-412, Borddeaux, 1992. |
| [7] | D. Fragopoulos, M.P. Spathopoulos, and Y. Zheng. "A pendulation control system for offshore lifting operations". In Proceedings of the 14th IFAC Triennial World Congress, pages 465–470, Beijing, P.R. China, 1999. |
| [8] | T. Gustafsson. "On the design and implementation of a rotary crane controller". European Journal of Control, 2(3):166-175, March 1996. |
| [9] | K. S. Hong, J.H. Kim, et K.I Lee. "Control of a container crane: Fast trversing, and residual sway control from the erspective of controlling an underactuated system". In Pro-ceedings of the American Control Conference, pages 1294-1298, Philadelphia, PA, June 1998. 1-305, 1995.ne: to the crane control system. |
| [10] | J. Lévine, P. Rouchon, G. Yuan, C. Grebogi, B. Hunt, E. Ott, J. Yorke and E. Kostelich, On the control of US navy cranes, European Control Conference, ECC’97, Brussels, July 1997. |
| [11] | Ph. Martin and P. Rouchon, Systèmes plats: planification et suivi de trajectoires, www.math.polytechnique.fr/xups/vol99. |
| [12] | S. C. Martindale, D. M. Dawson, J. Zhu, et C. Rahn. "Ap-proximate nonlinear control for a two degree of freedom overhead crane: Theory and experimentation". In Proceedings of the American Control Conference, pages 301-305, 1995. |
| [13] | K.A.F Moustafa. "Reference trajectory tracking of overhead cranes". Journal of Dynamic Systems, Measurement, and Control, 123:139–141, March 2001. |
| [14] | R. H. Overton. "Anti-sway control system for cantilever cranes". United States Patent, June 1996. Patent No.5, 526,946. |
| [15] | F. Rotella, F. Carrillo and M. Ayadi, Digital flatness-based robust controller applied to a thermal process, IEEE interna-tional Conference on Control application, pp. 936-941, Mexico 2001. |
| [16] | R. Rothfuss, J. Rudolph and M. Zeitz, Flatness based control of chemical reactor model, European Control Conference, pp. 637-642, Rome, September 1995. |
| [17] | Y. Sakawa et Y. Shindo. "Optimal control of container cranes". Automatica, 18(3), 1981, 257-266. |
| [18] | H. Souilem, H. Mekki, N. Derbel, "crane control by flatness", ninth International Multi-Conference on Systems, Signals & Devices, Chemnitz, Germany, March 2012. |
| [19] | K. Yoshida and H. Kawabe. "A design of saturating control with guaranteed cost and its application to the crane control system". IEEE Transactions on Automatic Control, 37(1):121-127, 1992. |
| [20] | J. Yu, F.L. Lewis, et T. Huang. " Nonlinear feedback control of a gantry crane". In Proceeding of the American Control Conference, pages 4310-4315, 1995. |
APA Style
H. Souilem, H. Mekki, N. Derbel. (2013). Flatness Control of A Crane. Automation, Control and Intelligent Systems, 1(1), 1-6. https://doi.org/10.11648/j.acis.20130101.11
ACS Style
H. Souilem; H. Mekki; N. Derbel. Flatness Control of A Crane. Autom. Control Intell. Syst. 2013, 1(1), 1-6. doi: 10.11648/j.acis.20130101.11
AMA Style
H. Souilem, H. Mekki, N. Derbel. Flatness Control of A Crane. Autom Control Intell Syst. 2013;1(1):1-6. doi: 10.11648/j.acis.20130101.11
Share This Article
Twitter
Linked In
Facebook
Copy
Download@article{10.11648/j.acis.20130101.11,
author = {H. Souilem and H. Mekki and N. Derbel},
title = {Flatness Control of A Crane},
journal = {Automation, Control and Intelligent Systems},
volume = {1},
number = {1},
pages = {1-6},
doi = {10.11648/j.acis.20130101.11},
url = {https://doi.org/10.11648/j.acis.20130101.11},
eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.acis.20130101.11},
abstract = {The aim of this work is to propose a flatness control of a crane detailing adopted mechanisms and approaches in order to be able to control this system and to solve problems encountered during its functioning. The control objective is the sway-free transportation of the crane’s load taking the commands of the crane operator into account. Based on the mathematical model linearizing and stabilizing control laws for the slewing and luffing motion are derived using the input/output linearization approach. The method allows for transportation of the payload to a selected point and ensures minimisation of its swings when the motion is finished. To achieve this goal a mathematical model of the control system of the displacement of the payload has been constructed. A theory of control which ensures swing-free stop of the payload is presented. Selected results of numerical simulations are shown. At the end of this work, a comparative study between the real moving and the desired one has been presented.},
year = {2013}
}
TY - JOUR T1 - Flatness Control of A Crane AU - H. Souilem AU - H. Mekki AU - N. Derbel Y1 - 2013/02/20 PY - 2013 N1 - https://doi.org/10.11648/j.acis.20130101.11 DO - 10.11648/j.acis.20130101.11 T2 - Automation, Control and Intelligent Systems JF - Automation, Control and Intelligent Systems JO - Automation, Control and Intelligent Systems SP - 1 EP - 6 PB - Science Publishing Group SN - 2328-5591 UR - https://doi.org/10.11648/j.acis.20130101.11 AB - The aim of this work is to propose a flatness control of a crane detailing adopted mechanisms and approaches in order to be able to control this system and to solve problems encountered during its functioning. The control objective is the sway-free transportation of the crane’s load taking the commands of the crane operator into account. Based on the mathematical model linearizing and stabilizing control laws for the slewing and luffing motion are derived using the input/output linearization approach. The method allows for transportation of the payload to a selected point and ensures minimisation of its swings when the motion is finished. To achieve this goal a mathematical model of the control system of the displacement of the payload has been constructed. A theory of control which ensures swing-free stop of the payload is presented. Selected results of numerical simulations are shown. At the end of this work, a comparative study between the real moving and the desired one has been presented. VL - 1 IS - 1 ER -
Email: