Draft:Anti-sway control system: Difference between revisions

 

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Other types of anti-sway control systems(Literature review)

Other types of anti-sway control systems(Literature review)

Payload sway reduces the accuracy of position and path tracking in cranes. An integrated anti-sway and position tracking control system for harbor mobile cranes was suggested by Neupert et al. in 2010 [15], Souissi and Koivo in 1992 [27]. Input shaping and feedback control are two methods for anti-sway and position tracking control systems respectively [24, 10]. Schaub in 2008 [22], Sorensen et al. in 2007 [26], Khalid et al. in 2007 [7], and Kim et al. in 2004 [8], used a combination of these methods to present anti-sway and position tracking control systems for bridge, gantry, and ship-mounted cranes. Yi et al. in 2003 [30], designed an anti-sway and positioning of payload by use of fuzzy control system for overhead cranes. Bartolini in 2002 [3], designed an anti-sway control system to obtain a fast and precise transferring of payload in container cranes and fixed cranes in which the column and boom are stationary while the hook and payload are moving. Armstrong and Moore in 1994 [2], used a modular distributed controller for anti-sway control system. Terashima et al. in 2007 [29], designed an anti-sway control system for a rotary crane by use of an optimal control system. Singhose et al. in 2000 [24], designed an anti-sway control system for gantry cranes by use of input shaping control algorithm and based on the dynamical model of the payload motion. Sawodny et al. in 2002 [21], presented a control scheme to suppress the payload sway in gantry cranes. Seto in 1983 [23] and Blackburn et al. in 2010 [4], proposed an anti-sway control system based on the equation of motion of the system for tower cranes. The equation of motion expresses displacement as a function of time or will give the distance between any instantaneous position of the mass during its motion and the equilibrium position [18, 23]. Kim and Singhose in 2006 [9], presented an anti-sway control system in bridge cranes by use of the input shaping control law. Park et al. in 2007 [17], designed a nonlinear anti-sway control system for container cranes using feedback control law.

Payload sway reduces the accuracy of position and path tracking in cranes. An integrated anti-sway and position tracking control system for harbor mobile cranes was suggested by Neupert et al. in 2010 [15], Souissi and Koivo in 1992 [27]. Input shaping and feedback control are two methods for anti-sway and position tracking control systems respectively [24, 10]. Schaub in 2008 [22], Sorensen et al. in 2007 [26], Khalid et al. in 2007 [7], and Kim et al. in 2004 [8], used a combination of these methods to present anti-sway and position tracking control systems for bridge, gantry, and ship-mounted cranes. Yi et al. in 2003 [30], designed an anti-sway and positioning of payload by use of fuzzy control system for overhead cranes. Bartolini in 2002 [3], designed an anti-sway control system to obtain a fast and precise transferring of payload in container cranes and fixed cranes in which the column and boom are stationary while the hook and payload are moving. Armstrong and Moore in 1994 [2], used a modular distributed controller for anti-sway control system. Terashima et al. in 2007 [29], designed an anti-sway control system for a rotary crane by use of an optimal control system. Singhose et al. in 2000 [24], designed an anti-sway control system for gantry cranes by use of input shaping control algorithm and based on the dynamical model of the payload motion. Sawodny et al. in 2002 [21], presented a control scheme to suppress the payload sway in gantry cranes. Seto in 1983 [23] and Blackburn et al. in 2010 [4], proposed an anti-sway control system based on the equation of motion of the system for tower cranes. The equation of motion expresses displacement as a function of time or will give the distance between any instantaneous position of the mass during its motion and the equilibrium position [18, 23]. Kim and Singhose in 2006 [9], presented an anti-sway control system in bridge cranes by use of the input shaping control law. Park et al. in 2007 [17], designed a nonlinear anti-sway control system for container cranes using feedback control law.

== References ==

== References ==

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I725

This subject describes a control system to supress payload sway

Anti-Sway Control System

(Daryoush Safarzadeh )

Anti-sway control system is used for decreasing or stopping the sway of payload. Sway is the unwanted swinging of payload in cranes that creates a dangerous situation and can damage people and other devices or cause overturning of the crane. Sway can also cause difficulty in loading, unloading and positioning of the payload as well as wasting time [9]. Sway of payload is one of the causes for crane accidents. Payload sway is generated in all types of cranes [9, 15], and is created due to the dynamic motions of crane and payload.Pushing workshop floor cranes along with the payload, especially in uneven surfaces, can also create payload sway. Cranes have low safety, because the operator has to operate close to them to actuate the hydraulic pump for rotating the boom or to push the crane for movement. In some of cranes, vicinity of operator to crane for controlling hydraulic system and boom rotation can produce the hazards such as overturning of crane, collision with payload, falling of the payload, power line contact, and etc., due to payload sway [1]. One of the problems for position tracking in cranes is sway of payload that affects the accuracy of following a path through space [15]. Precise positioning of payload is a problem in cranes due to payload sway. However, design of the appropriate anti-sway control systems can facilitate exact positioning of payload [9, 30]. Because of sway, the payload cannot be transferred precisely and rapidly [6,3]. Collision of payload with others due to sway, is another ergonomic problem in cranes [1,16]. Function of anti-sway control systems is based on the type of cranes. However, for most of cranes which their hooks are connected directly to the boom, such as workshop cranes, truck cranes, loader cranes and overhead cranes, the anti-sway control system is connected to the connection point of the hook and boom and acts on the axis of rotation of the hook. This system slows down the rotation of hook pivot during sway by exerting an intermittent braking on the hook pivot. Braking is not constant so that the rotation of hook for normal performance of the crane can be easily accomplished. This system consists of two small hydraulic cylinder, two braking shoes, two brake rings, a photo sensor, two mercury switches, a semi-circular disk, a dc electromotor, a solenoid valve, electrical and hydraulic circuits. The mercury switches distinguish both the normal rotation of hook for displacement of payload, and sway of payload. The braking is performed when the payload sway is distinguished. During payload sway, the mercury switches close an electrical circuit and electric current flows to the solenoid valve. The oil from hydraulic circuit flows to the hydraulic cylinders and squeezes the brake shoes to the hook pin. In the electrical circuit, there are also a photo sensor and a dc electromotor that whirls a semicircular disk vis-a-vis a photo sensor. This photo sensor can open or close the electrical circuit too. For one revolution of the disk, photo sensor one time closes the circuit and braking is accomplished, and one time opens the circuit and braking is stopped. Braking process continues during sway of payload. Number of braking in time unit is based on RPM ( revolution per minute) of the electromotor. After finishing sway, the mercurial switches open the circuit and braking is stopped. A unique hydraulic circuit is also used for quick response of the hydraulic cylinders [19].

Other types of anti-sway control systems(Literature review)

Payload sway reduces the accuracy of position and path tracking in cranes. An integrated anti-sway and position tracking control system for harbor mobile cranes was suggested by Neupert et al. in 2010 [15], Souissi and Koivo in 1992 [27]. Input shaping and feedback control are two methods for anti-sway and position tracking control systems respectively [24, 10]. Schaub in 2008 [22], Sorensen et al. in 2007 [26], Khalid et al. in 2007 [7], and Kim et al. in 2004 [8], used a combination of these methods to present anti-sway and position tracking control systems for bridge, gantry, and ship-mounted cranes. Yi et al. in 2003 [30], designed an anti-sway and positioning of payload by use of fuzzy control system for overhead cranes. Bartolini in 2002 [3], designed an anti-sway control system to obtain a fast and precise transferring of payload in container cranes and fixed cranes in which the column and boom are stationary while the hook and payload are moving. Armstrong and Moore in 1994 [2], used a modular distributed controller for anti-sway control system. Terashima et al. in 2007 [29], designed an anti-sway control system for a rotary crane by use of an optimal control system. Singhose et al. in 2000 [24], designed an anti-sway control system for gantry cranes by use of input shaping control algorithm and based on the dynamical model of the payload motion. Sawodny et al. in 2002 [21], presented a control scheme to suppress the payload sway in gantry cranes. Seto in 1983 [23] and Blackburn et al. in 2010 [4], proposed an anti-sway control system based on the equation of motion of the system for tower cranes. The equation of motion expresses displacement as a function of time or will give the distance between any instantaneous position of the mass during its motion and the equilibrium position [18, 23]. Kim and Singhose in 2006 [9], presented an anti-sway control system in bridge cranes by use of the input shaping control law. Park et al. in 2007 [17], designed a nonlinear anti-sway control system for container cranes using feedback control law. Smoczek and Szpytko in 2014 [25], used the evolutionary algorithm (EA) for design of a fuzzy controller in anti-sway crane control system. Sung et al. in 2016 [28], presented an anti-sway control system for tower cranes based on the variable structure (VS) adaptive fuzzy control scheme by use of Lyapunov criterion and the Riccati-inequality. Yong et al. in 2018 [31], analyzed the influence of the crane vertical deformation on anti-sway control system. Martin and Irani in 2022 [13], presented a novel self-tuning anti-sway control system for shipboard cranes that was able to provide anti-sway action for six degree of freedom while tracking a time-varying operator input. In another research in 2021 [11], they presented a dynamic model and anti-sway control system for a seven degree of freedim (DOF) shipboard knuckle boom crane. In 2021 [12], they used a combination of PID (proportional integral derivative) and SMC (sliding mode controller) for tracking the modified trajectory and damping payload sway for shipboard cranes in the presence of six degree of freedom ship motion.

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