Journal
AUTOMATION IN CONSTRUCTION
Volume 142, Issue -, Pages -Publisher
ELSEVIER
DOI: 10.1016/j.autcon.2022.104521
Keywords
Underactuated systems; Tower cranes; Distributed payload mass; Vibration suppression; Adaptive fuzzy tracking control
Funding
- National Natural Science Foundation of China
- [61703202]
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Tower cranes are widely used in construction sites, but traditional control algorithms are not sufficient for large distributed payloads. To address this issue, an adaptive fuzzy control method is proposed, which shows good control performance in the presence of external disturbances and parameter uncertainties.
As an indispensable transportation tool, tower cranes are widely used in construction sites. However, since the mass and volume of the transported goods become larger, most of the traditional control algorithms designed for Concentrated Payload Mass (CPM) are not sufficient for Distributed Payload Mass (DPM). One of the main differences between DPM and CPM is that the payload swing caused by the moment of inertia of DPM cannot be effectively suppressed, resulting in residual payload swing. Furthermore, due to different working environments, accurate system parameters are difficult to obtain, leading to errors in their positioning. Hence, an adaptive fuzzy control method is proposed, which has good control performance in the presence of external disturbances and parameter uncertainties. The effectiveness of the proposed method was verified through experiments. This improves the efficiency of transportation and is of more practical significance for automation construction. In future research, fault diagnosis and active fault-tolerant control will be considered as the following research directions, taking into account the problem of actuator/sensor failures due to prolonged system operation.
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