Modeling and energy-based sway reduction control for tower crane systems with double-pendulum and spherical-pendulum effects. (January 2020)

• Record Type: Journal Article
• Authors: Zhang, Menghua; Zhang, Yongfeng; Ji, Bing; Ma, Changhui; Cheng, Xingong
• Is Part Of: Measurement and control. Volume 53:Number 1/2(2020)
• Page Start: 141
• Page End: 150
• Publication Date: 2020-01
• Subjects: Modeling -- spherical-pendulum effect -- double-pendulum effect -- energy-based control -- convergence; Automatic control -- Periodicals; Engineering instruments -- Periodicals; Production engineering -- Periodicals; 629.8
• DOI: 10.1177/0020294019877492
• Languages: English
• ISSNs: 0020-2940

Abstract

As typical underactuated systems, tower crane systems present complicated nonlinear dynamics. For simplicity, the payload swing is traditionally modeled as a single-pendulum in existing works. Actually, when the hook mass is close to the payload mass, or the size of the payload is large, a tower crane may exhibit double-pendulum effects. In addition, existing control methods assume that the hook and the payload only swing in a plane. To tackle the aforementioned practical problems, we establish the dynamical model of the tower cranes with double-pendulum and spherical-pendulum effects. Then, on this basis, an energy-based controller is designed and analyzed using the established dynamic model. To further obtain rapid hook and payload swing suppression and elimination, the swing part is introduced to the energy-based controller. Lyapunov techniques and LaSalle's invariance theorem are provided to demonstrate the asymptotic stability of the closed-loop system and the convergence of the system states. Simulation results are illustrated to verify the correctness and effectiveness of the designed controller.