Crane System Research Articles

Modified Gradient Projection Neural Network for Multiset Constrained Optimization

To solve nonlinear optimization problems under multiple set constraints, a modified gradient projection neural network (MGPNN) is proposed and investigated. Different from existing approaches specialized for linear constrained optimizations, such as the gradient-based recurrent neural network or dynamic-parameter zeroing neural network, the MGPNN is intrinsically designed from the perspective of the multiple set constrained optimization (MSCO), which is a more generalized form for the linear constrained optimization. The MGPNN is able to efficiently and conveniently provide a feasible solution to the MSCO problem. Ultimately, compared with existing solution methods, numerical simulations and applications to the control of an underactuated portal crane system are provided for verifications of the robust stability and preponderance of the proposed MGPNN model.

An enhanced coupling optimal trajectory planning for bridge cranes

For the bridge crane system, the control objective is to deliver the cargo to the target location quickly, accurately, and with the smallest possible swing. Therefore, this paper proposes a novel signal-based trajectory planning approach and designs the corresponding tracking control strategy. The approach ensures that the payload can be transported smoothly in the shortest time and effectively suppresses and eliminates payload swing throughout the process. Specifically, a novel signal with enhanced coupling is first constructed, and then the system model is transformed into the system represented by the signal. The system is further discretized into critical control points, the trajectories are designed, and the optimization problem is formulated using the constraints obtained from the discrete system. Moreover, the proposed method enhances the coupling between the trolley motion and the payload swing angle, which reduces computational accuracy loss and improves the transient performance of the system. Additionally, a tracking controller is designed to verify the feasibility of the trajectory and enhance the tracking effect of the trajectory. Finally, the effective control performance of the proposed method is verified by comparing it with existing methods.

An optimized shaped command of overhead crane nonlinear system for rest-to-rest maneuver

Payload oscillation suppression of an overhead crane system with non-zero initial conditions and large swing angle is a challenging problem, due to the system’s nonlinearity. An optimized input shaper using a multi-objective genetic algorithm strategy is proposed in this work. The purpose of the proposed method is to minimize residual vibrations in the crane payload resulting from moving the payload from one position to another, starting from non-zero initial conditions. Multiple input acceleration steps are fed to the crane jib to provide the optimized motion. The system is modelled as a single pendulum of constant cable length. The results show that the proposed method is able to regulate the system, satisfy the system conditions and constraints, and to minimize the residual vibration to the least values.

Dynamic Simulation Analysis of Truck Crane Based on ADAMS

Background: With a reduction in the weight of telescopic boom crane and an increase in its lifting capacity, the contradiction between its speed, stability and safety becomes more prominent. The telescopic arm also has flexible deformation during operation, which will cause vibration of the whole vehicle system. Therefore, in order to ensure safety, accuracy, and efficiency in the working process, it is necessary to accurately predict the dynamic characteristics of the telescopic boom load in the working process. Objective: The purpose of this study is to establish a rigid-flexible coupling dynamic model of the crane, which can accurately reflect the dynamic characteristics of the telescopic boom during its operation in the simulation test. Methods: In theory, this study analyzes the characteristics of a truck crane and simplifies it as a cantilever beam. Based on the Euler-Bernoulli beam theory, the vibration differential equation of the mobile masscantilever beam system is established. In the aspect of simulation, the three-dimensional modeling software Solidworks is used to establish the solid model of the truck telescopic boom, the finite element analysis software is used to establish the finite element model of the telescopic boom, and the modal neutral file is generated and imported into ADAMS to establish the dynamic model of the truck crane multi-level flexible telescopic boom. The dynamic simulation of the virtual prototype model of the truck telescopic boom crane is carried out in ADAMS software to obtain the dynamic characteristics of the key components of crane under specific working conditions. Results: The vibration differential equation derived in theory can be used to solve the dynamic response of the crane jib under specific conditions by MATLAB programming. In the aspect of simulation, the error fluctuation and its causes in the key components of the crane in the working state are analyzed, and the rationality of the virtual prototype model is verified. Finally, through the trajectory planning of the crane under typical working conditions, the purpose of stable control of the telescopic boom system of the truck crane is realized. Conclusion: The derived equation is universal for solving the vibration of crane jib in general cases. The rigid-flexible coupling model also provides a reference for the dynamic modeling, analysis, design, and manufacture of a multi-stage flexible telescopic boom. The findings of this study can provide a reference for related patent research and development.

An emergency braking method with swing suppression and safety limits consideration for double pendulum cranes

In this paper, considering the emergency braking problem for double pendulum crane systems, we propose a swing suppression guaranteed braking method with safety limits consideration, whose performance is also theoretically proved. Since the workspace for double pendulum cranes may be complex, while the transported payload may be large, it is of great significance to design proper emergency braking methods to make the entire double pendulum crane brake quickly and avoid possible accidents. By carefully analyzing the crane dynamics and taking into account the important swing suppression objective, coupling enhanced terms are designed based on the coupling behavior between the trolley motion and the swing angles. Then the coupling enhanced terms are combined with crane mechanical energy function, which further introduces swing angle-related feedback terms and achieves better swing suppression performance. Furthermore, safety limits are also taken into consideration by designing a special barrier function-like term, which can restrict the payload and hook horizontal positions in permitted domains. Based on all these terms, the swing suppression guaranteed braking method is designed with rigorous mathematical analysis proposed to shown its proper performance. To the best of our knowledge, it is the first emergency braking method for double pendulum cranes. Experimental tests are also implemented by using a hardware crane testbed, which further verify the effectiveness of the proposed method.

Hierarchical coupling control of cable-driven multi-loop crane for underactuated positioning

For the low-cost anti-swing retrofit of existing offshore heavy cranes, a (2-UPPU/UPU)UP multi-loop configuration with six cable-driven prismatic pairs and a UP underactuated pendulum is introduced. Each UPPU branch contains a fast-moving prismatic pair and a slow-moving one. A configuration tracking method utilizing three slow cable motions in 2-UPPU/UPU is proposed by motion compensation technology. A multi-loop underactuated end positioning scheme is given to achieve the cargo's horizontal positioning in inertia frame, i.e., two fast cable motions in 2-UPPU are used to drive four states comprising their tracking trajectories and two cargo swings, which frees the wave compensation and swing suppression task from crane joints and retains the original crane system. A hierarchical coupling controller with a special coupling relation matrix is designed, where the matrix-based sub-controller fusion technique provides a standardized design approach with distinct physical meaning for the application of hierarchical methodology in underactuated multi-loop systems. The stability analysis by Lyapunov method reveals multiple coupling relation matrices matching stability conditions, giving birth to five attractive coupling control modes. Simulations and experiments are conducted to compare and verify performance.

Adaptive Neural-Fuzzy controller design combined with LQR to control the position of gantry crane

As the world grows, the demand for transporting goods is increasing, the number of goods in factories and ports is increasing, to transport all these goods, cranes are indispensable. In fact, currently, crane rigs working in factories and ports operate with low stability, when working or the phenomenon of swaying of the load occurs, leading to inaccurate positioning, loss of safe transportation of goods. To overcome these shortcomings, the paper proposes the design of a neural-fuzzy adaptive controller combined with an LQR controller (ANFIS-LQR) to control the forklift's position in the shortest time to achieve the desired exact position. At the same time, we want to control the deflection angle of the load so that the vibration when working is minimal. To check and evaluate the quality and stability of the system; the proposed design controller is simulated on MATLAB/Simulink software in the case of changes in system parameters and noise affecting the gantry crane system. To evaluate the superiority of the paper compared with published works, the author compares ANFIS-LQR with other published control methods such as DE-PID, Fuzzy-PD, Fuzzy dual and Fuzzy sliding, the simulation results show that the neural-fuzzy adaptive controller combined with the proposed LQR controller works well t_xlvt=2.1s , t_xlgt=3.5s, 0max=0.3(rad).

Control of a Double-Pendulum Overhead Crane System Based on Hierarchical Sliding Mode Control Techniques

The double-pendulum overhead crane system belongs to a class of underactuated mechanical systems, which is challenging to control due to its strong nonlinearities. This study deals with the nonlinear controller design for a double-pendulum overhead crane based on hierarchical sliding mode control with state-dependent switching gain. The equivalent and switching controls are obtained with the aid of first-level and second-level sliding surfaces. The asymptotic stability of sliding surfaces is proved theoretically and also shown graphically. Numerical simulations show that the proposed controller performs better than conventional hierarchical sliding mode control. The proposed controller effectively suppresses the load and hook swing and precisely controls the trolley’s displacement. It has strong robustness to the payload displacement and the change of the crane parameters.

Study of dynamic response of crane system via surrogates based on Karhunen–Loève expansion and neural networks

Overhead cranes are widely used in construction sites and manufacturing/assembly lines for various tasks (loading, unloading, lifting, transporting,. . . ). This paper investigates the dynamic response of the main beam (i.e., girder) of an overhead crane by a surrogate technique based on truncated Karhunen–Loève (KL) expansion and neural networks. First, the physical modeling and the motion equations of the crane system are derived using the Lagrange equation. Then, the dynamic responses of the overhead crane system with a number of the input parameters (i.e., configurations) are estimated by the numerical Newmark-beta integral method. Finally, the surrogates based on the truncated KL expansion and neural networks are constructed for studying the dynamic responses of the girder within a limited reference dataset. It can be stated that with a convergence property, the reconstructed surrogate performs good predictability for characterizing the dynamic responses of the structure. The presented method allows us to study the dynamic analysis and optimization of the crane according to the design conditions in the actual applications.

Разработка математической модели стеллажного крана-штабелера с учетом диссипации энергии

Stacker cranes are widely used in automated warehouses. The actual task is to increase their energy efficiency and productivity. Simulation mathematical models are used for the solution of this problem at the stage of research and development works. We have developed a mathematical model of a rack stacker crane in long spatial displacements taking into account energy dissipation of linear coordinates of the cart and the cargo carriage. The model is a system of two second-order Lagrange differential equations. Partial derivatives of analytical expressions of kinetic and potential energies of the dynamic stacker crane system as well as dissipative Rayleigh function are used for derivation of the differential equations. Different values of dissipation coefficients for two linear coordinates of the stacker crane can be used. Using SimInTech we develop a simulation model of a conventional stacker crane based on the suggested system of differential equations and represented in the form of a block diagram. The developed simulation model is described and an example of its use is given. A complex model of a shelf stacker crane includes as a constituent part a procedure of determining time intervals of equivalent-accelerated motion of the links. Examples of time dependences of the crane bogie and cargo carriage coordinates, drive forces providing the set coordinate dependences, drives work and total work are given. The developed mathematical model of the stacker-crane can be used for the modelling of the processes of the cargo moving along the rack, its raising to the given height corresponding to the rack target cell, its lowering as well as for the estimation of the energy input of the crane.

Research on electro-hydraulic composite drive winch and energy recovery system for mobile crane

Owing to the high power consumption and limited control precision of traditional hydraulic drive winch systems, this study proposes hydraulic and electric-type energy recovery systems. The accumulator used in the hydraulic type has low energy density, which makes it difficult to store a large amount of energy. Meanwhile, the electric motor/generator used in the electric type cannot solve the secondary slip because of oil leakage, which leads to low controllability and high-power consumption under near-zero speed and high torque conditions. Thus, based on electric construction machinery with high-pressure, energy-dense electric energy storage units, this study proposes an electro-hydraulic composite drive winch and energy recovery system and control strategy for mobile cranes. Considering the good control characteristics of the electric motor/generator and the high-power density of the hydraulic accumulator, this hydroelectric composite drive and energy recovery system may solve the secondary sliding challenge and ensure large torque output at near-zero speed. A simulation model of the mobile crane is established to verify the feasibility of the proposed system and control strategy. The research results showed that the system is more efficient at recovering energy when the weight is lowered by a greater distance.

An improved marine predators algorithm tuned data-driven multiple-node hormone regulation neuroendocrine-PID controller for multi-input–multi-output gantry crane system

Conventionally, researchers have favored the model-based control scheme for controlling gantry crane systems. However, this method necessitates a substantial investment of time and resources in order to develop an accurate mathematical model of the complex crane system. Recognizing this challenge, the current paper introduces a novel data-driven control scheme that relies exclusively on input and output data. Undertaking a couple of modifications to the conventional marine predators algorithm (MPA), random average marine predators algorithm (RAMPA) with tunable adaptive coefficient to control the step size ( CF) has been proposed in this paper as an enhanced alternative towards fine-tuning data-driven multiple-node hormone regulation neuroendocrine-PID (MnHR-NEPID) controller parameters for the multi-input–multi-output (MIMO) gantry crane system. First modification involved a random average location calculation within the algorithm’s updating mechanism to solve the local optima issue. The second modification then introduced tunable CF that enhanced search capacity by enabling users’ resilience towards attaining an offsetting level of exploration and exploitation phases. Effectiveness of the proposed method is evaluated based on the convergence curve and statistical analysis of the fitness function, the total norms of error and input, Wilcoxon’s rank test, time response analysis, and robustness analysis under the influence of external disturbance. Comparative findings alongside other existing metaheuristic-based algorithms confirmed excellence of the proposed method through its superior performance against the conventional MPA, particle swarm optimization (PSO), grey wolf optimizer (GWO), moth-flame optimization (MFO), multi-verse optimizer (MVO), sine-cosine algorithm (SCA), salp-swarm algorithm (SSA), slime mould algorithm (SMA), flow direction algorithm (FDA), and the formally published adaptive safe experimentation dynamics (ASED)-based methods.

A novel nonsingular fixed-time control for uncertain bridge crane system using two-layer adaptive disturbance observer

A novel nonsingular fixed-time control for uncertain bridge crane system using two-layer adaptive disturbance observer

A new solution approach for the twin yard crane scheduling problem in automated container terminals

The Twin-Automated Stacking Crane (Twin-ASC) system is a special configuration of Yard Crane (YC) that is common in most of the Automated Container Terminals (ACTs) used for stacking and retrieving containers on the yard side of a Container Terminal (CT). The usual objective when scheduling the Twin-ASC to perform a given set of transport jobs is the minimization of the schedule length (makespan). The problem is NP-hard, which means that problem of realistic size cannot be solved within a reasonable time limit by default solvers or conventional methods, necessitating the use of an efficient algorithm. Thus, this work proposes a novel algorithm based on the modified Johnson Algorithm (JA) to a formulated Mixed Integer Programming (MIP) model for solving the Twin-ASC scheduling problem to minimize the makespan of the schedule. Differ from the existing heuristics, the proposed algorithm has the flexibility of varying the handshake area, and the system utilization can be investigated. The handshake area is a temporary storage location in the Twin-ASC system where an ASC can leave a job for the other to complete since the crossing of the cranes is not possible, and it greatly affects the makespan of completing the given set of jobs. An extensive computational study was carried out and results were compared with (two) existing heuristics to evaluate the effectiveness of the proposed solution approach.

Dynamical modelling of boom tower crane rigging systems: model selection for construction

Accurate dynamical models are imperative to the development of accurate monitoring and control systems, which are foundational to safety in construction and infrastructure projects. However, the highly coupled non-linear dynamics of crane systems requires the application of many simplifying assumptions to the dynamical crane model. To achieve accurate control, simplifications should yield minimal error in modelled behaviour for maximal reduction in model complexity. However, limited information is available on the situational suitability of different combinations of simplifications to construction tower crane models. This paper informs designers of the optimal dynamical models to represent boom tower cranes, with respect to the crane characteristics and selection criteria. The optimal models are determined though the comparison of ten 2D and 3D dynamical models in representation of three variations of boom tower crane that are commonly deployed on construction sites. The comparison includes analysis of over 100 simulations and experimentation. The value of the presented optimal model selection framework is in facilitating systems designers to develop accurate crane monitoring and control systems.

Super-twisting disturbance-observer-based nonlinear control of the overhead crane system

Super-twisting disturbance-observer-based nonlinear control of the overhead crane system

Research on Swing Model and Fuzzy Anti Swing Control Technology of Bridge Crane

A bridge crane is often used in a complex environment and is often subject to the interference of all loads. Some uncertain factors often have an inevitable impact on its swing. So the force situation of the bridge crane during a working cycle is analyzed, and a three-dimensional dynamic mathematical model of the bridge crane is built. Through the simulation analysis of the model under the action of a driving force and wind load, the change law of the swing angle of the bridge crane is studied. Then, the fuzzy control theory is used to determine the control parameter in the anti-sway control process. The position, swing angle deviation, and deviation rate of the bridge crane are taken as the input, and the parameter correction is obtained after the fuzzification by using the center of gravity method. The anti-sway fuzzy control system of the bridge crane is designed and simulated. The research results show that the swing model of the crane is reasonable and the fuzzy PID anti-sway controller can not only improve the adaptability of the control system, but also overcome the large overshoot, quickly restrain the swing, and effectively realize the anti-sway function of the bridge crane.

Cascade Control of Active Heave Compensation Nonlinear System for Marine Crane

During the rough marine environment, heave compensation is used to offset the heave motion of the vessel when a marine crane lifts and lands the load. Thus, load motion and vessel motion are realized decoupled. In previous studies, the interference items such as hydraulic cylinder friction, underwater drag force and nonlinear friction in the active heave compensation system of a marine hydraulic crane are compensated as a concentrated interference force to be estimated. In this paper, we disassembled the interference items; the disturbance observer and adaptive rate are designed to estimate unmodeled disturbance force and system uncertain parameters, respectively; and we designed an active heave compensator with the adaptive nonlinear cascade controller which has the disturbance observer (DOB-ANCC). For the heave compensation of load displacement, this paper derived the control law of the nonlinear system model based on the backstepping method. The outer loop control is displacement control and the inner loop control is pressure control. The simulation verifies the effectiveness of the control strategy proposed in this paper and the availability of heave displacement compensation for a marine crane hoisting load. The compensation efficiency of the designed controller (DOB-ANCC) for the heave motion of the load can reach more than 95%, and the maximum displacement tracking error of the controller can reach ± 0.035 m.

Anti-sway control of variable rope length container crane based on phase plane trajectory planning

An overhead crane system is a complex time-varying system if it includes simultaneous hoisting and moving operations. To address the problem that time-varying systems usually have no exact analytical solution, an anti-swing method based on linear approximation of the phase plane trajectory is proposed. Specifically, the phase plane trajectory of the swing angle is first analyzed and it is found that the double-step acceleration method with unequal acceleration amplitude and acceleration time has a combination of limit loops in the phase plane trajectory of the swing angle when the rope length varies, so the average rope length of each section is used to approximate the natural oscillation frequency. Next, the input shaping technique is used to shape the input signal into the desired output signal so that the load swing angle can follow the planned trajectory. The desired acceleration amplitude and switching time are then derived based on the geometric relationship between the swing angle in the phase plane and the specific physical constraints. Finally, the feasibility of the proposed method is verified by numerical simulations.

Application of Fuzzy PID Based on Stray Lion Swarm Optimization Algorithm in Overhead Crane System Control

To solve the problem of crane anti-swing, fuzzy PID is a common method. However, the parameter configuration of fuzzy PID requires a lot of time and effort from professionals. Based on this, we introduce the LSO algorithm and add the stray operator, which effectively improves its global search performance. By combining SLSO and fuzzy PID and comparing them with other methods, this paper confirms that even without the targeted optimization by professionals, the optimization algorithm can find the appropriate parameter configuration for fuzzy PID which can be effectively used in the crane anti-swing problem.