In order to quickly eliminate the swing angle of plate hoisting under wind load, an improved dynamic sliding mode control method is proposed in this paper. Firstly, the plate hoisting model under wind load is simplified into a double pendulum system, and the dynamic model of a double pendulum cable crane with wind disturbance is established. To enhance the coupling relationship between trolley displacement and double swing angle, a new coupling state vector for the double pendulum system is defined. On this basis, a dynamic sliding surface is constructed and then an integral function of the system’s discontinuous term is established, essentially ensuring the continuity of the sliding surface and reducing the system’s chattering characteristics. Finally, the stability of the system is rigorously proved by Lyapunov theorem and Barbalat lemma. The simulation and experimental results show that the controller proposed in this paper has a good effect on the anti-swing problem of plate hoisting under wind load.
OuyangHHuJZhangG, et al. Decoupled linear model and s-shaped curve motion trajectory for load sway reduction control in overhead cranes with double-pendulum effect. Proc IMechE, Part C: J Mechanical Engineering Science2019; 233: 3678–3689.
2.
ZhangHYWangJLuGD. Hierarchical fuzzy-tuned multiobjective optimization control for gantry cranes. Proc IMechE, Part C: J Mechanical Engineering Science2014; 228: 1119–1131.
3.
TongSXuWZhangX, et al. Experimental and theoretical analysis on truss construction robot: automatic grasping and hoisting of concrete composite floor slab. J Field Robot2023; 40: 272–288.
4.
ZhouBLiSZiB, et al. Multi objective optimal design of a cable-driven parallel robot based on an adaptive adjustment inertia weight PSO algorithm. J Mech Des2023; 145: 083301–083316
5.
GaoJZhouBZiB, et al. Kinematic uncertainty analysis of a cable-driven parallel robot based on an error transfer model. J Mech Robot2022; 14(5): 051008–051024.
6.
YangBLiuZXLiuHK, et al. A GPC-based multi-variable PID control algorithm and its application in anti-swing control and accurate positioning control for bridge cranes. Int J Control Autom Syst2020; 18: 2522–2533.
7.
GuoHFengZYSheJ. Discrete-time multivariable PID controller design with application to an overhead crane. Int J Syst Sci2020; 51: 2733–2745.
8.
YangWChenJXuD, et al. Hierarchical global fast terminal sliding-mode control for a bridge travelling crane system. IET Control Theory Appl2021; 15: 814–828.
9.
LiuZSunNWuY, et al. Nonlinear sliding mode tracking control of underactuated tower cranes. Int J Control Autom Syst2021; 19: 1065–1077.
10.
SunNFangYWuX. An enhanced coupling nonlinear control method for bridge cranes. IET Control Theory Appl2014; 8: 1215–1223.
11.
ZhangSHeXZhuH, et al. Partially saturated coupled-dissipation control for underactuated overhead cranes. Mech Syst Signal Process2020; 136: 106449–106465.
12.
ZhangSZhuHHeX, et al. Passivity-based coupling control for underactuated three-dimensional overhead cranes. ISA Trans2022; 126: 352–360.
13.
RamliLMohamedZEfeMÖ, et al. Efficient swing control of an overhead crane with simultaneous payload hoisting and external disturbances. Mech Syst Signal Process2020; 135: 106326–106342.
14.
ShenPYSchatzJCaverlyRJ. Passivity-based adaptive trajectory control of an underactuated 3-DOF overhead crane. Control Eng Pract2021; 112: 104834–104849.
15.
WuXXuKHeX. Disturbance-observer-based nonlinear control for overhead cranes subject to uncertain disturbances. Mech Syst Signal Process2020; 139: 106631–106648.
16.
YangTSunNChenH, et al. Observer-based nonlinear control for tower cranes suffering from uncertain friction and actuator constraints with experimental verification. IEEE Trans Ind Electron2021; 68: 6192–6204.
17.
MaghsoudiMJRamliLSudinS, et al. Improved unity magnitude input shaping scheme for sway control of an underactuated 3D overhead crane with hoisting. Mech Syst Signal Process2019; 123: 466–482.
18.
FasihSMohamedZHusainA, et al. Payload swing control of a tower crane using a neural network–based input shaper. Meas Control2020; 53: 1171–1182.
19.
JaafarHIMohamedZShamsudinMA, et al. Model reference command shaping for vibration control of multimode flexible systems with application to a double-pendulum overhead crane. Mech Syst Signal Process2019; 115: 677–695.
20.
JaafarHIMohamedZAhmadMA, et al. Control of an underactuated double-pendulum overhead crane using improved model reference command shaping: design, simulation and experiment. Mech Syst Signal Process2021; 151: 107358–107375.
21.
SunNYangTFangY, et al. Transportation control of double-pendulum cranes with a nonlinear quasi-PID scheme: design and experiments. IEEE Trans Syst Man Cybern Syst2019; 49: 1408–1418.
22.
SunNWuYChenH, et al. An energy-optimal solution for transportation control of cranes with double pendulum dynamics: design and experiments. Mech Syst Signal Process2018; 102: 87–101.
23.
WuQWangXHuaL, et al. Dynamic analysis and time optimal anti-swing control of double pendulum bridge crane with distributed mass beams. Mech Syst Signal Process2020; 144: 106968–106987.
24.
ChenHFangYSunN. A swing constrained time-optimal trajectory planning strategy for double pendulum crane systems. Nonlinear Dyn2017; 89: 1513–1524.
25.
BoscariolPRichiedeiD. Robust point-to-point trajectory planning for nonlinear underactuated systems: Theory and experimental assessment. Robot Comput Integr Manuf2018; 50: 256–265.
26.
ShiHYaoFYuanZ, et al. Research on nonlinear coupled tracking controller for double pendulum gantry cranes with load hoisting/lowering. Nonlinear Dyn2022; 108: 223–238.
27.
TianZYuLOuyangH, et al. Transportation and swing reduction for double-pendulum tower cranes using partial enhanced-coupling nonlinear controller with initial saturation. ISA Trans2021; 112: 122–136.
28.
ZhangMZhangYChengX. An enhanced coupling PD with sliding mode control method for underactuated double-pendulum overhead crane systems. Int J Control Autom Syst2019; 17: 1579–1588.
29.
OuyangHWangJZhangG, et al. Novel adaptive hierarchical sliding mode control for trajectory tracking and load sway rejection in double-pendulum overhead cranes. IEEE Access2019; 7: 10353–10361.
30.
AbdullahiAMMohamedZSelamatH, et al. Adaptive output-based command shaping for sway control of a 3D overhead crane with payload hoisting and wind disturbance. Mech Syst Signal Process2018; 98: 157–172.
31.
AbdullahiAMMohamedZSelamatH, et al. Efficient control of a 3D overhead crane with simultaneous payload hoisting and wind disturbance: design, simulation and experiment. Mech Syst Signal Process2020; 145: 106893–106908.
32.
ZhangMMaXRongX, et al. A novel energy-coupling-based control method for double-pendulum overhead cranes with initial control force constraint. Adv Mech Eng2018; 10: 2071944309–2071944321.
33.
LuBFangYSunN. Continuous sliding mode control strategy for a class of nonlinear underactuated systems. IEEE Trans Automat Contr2018; 63: 3471–3478.
34.
WangTTanNZhangX, et al. A time-varying sliding mode control method for distributed-mass double pendulum bridge crane with variable parameters. IEEE Access2021; 9(99): 75981–75992.
