An LMI-Based Simple Robust Control for Load Sway Rejection of Rotary Cranes with Double-Pendulum Effect

Huimin Ouyang,Xin Deng,Lei Mei,Guangming Zhang,Jian Wang

doi:10.1155/2019/3128356

Abstract

In the double-pendulum rotary crane case, the load sway properties become more complicated so that the difficulty of design and analysis of crane control system is increased. Moreover, the change of rope length not only affects the stability of the system, but also leads to the decline of control performance. In order to solve the foregoing problems, a simple model for controller design is obtained by linearizing and decoupling the complex nonlinear model of rotary crane. Then, a linear feedback controller which can furnish robust performance is presented. Finally, numerical simulations verify the effectiveness of the proposed method by comparing with a traditional approach.

Highlights

As a kind of handling robot, the crane systems have the advantages of less executive mechanism and simple structure; they have been widely used in various production departments [1]
Load sways caused by the cart or boom motion damage goods, reduce production efficiency, and cause accidents, even casualties
In order to evaluate the control performance of the proposed controller, a cycloid-like motion trajectory was applied to the crane system [43]: θ(k+4)d

Summary

Introduction

As a kind of handling robot, the crane systems have the advantages of less executive mechanism and simple structure; they have been widely used in various production departments [1]. How to design a control method that can effectively suppress the load sways has been a hot and difficult point in both academic and industrial circles. When the hook mass or load shape cannot be ignored, the load swing presents twostage swing For this problem, open-loop methods such as input shaping technology [27,28,29,30,31,32], motion planning method [33, 34], were presented. As far as we know, there are few related reports on the load sway suppression control of rotary cranes with double-pendulum effect. In order to solve the foregoing problems, a simple model for controller design is obtained by linearizing and decoupling the complex nonlinear model of rotary crane. Numerical simulations verify the effectiveness of the proposed method by comparing with a traditional approach

Figure 1

Controller Design Process

Results and Discussion

Conclusion