期刊
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷 68, 期 7, 页码 6192-6204出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2020.2992972
关键词
Cranes; Poles and towers; Friction; Payloads; Actuators; Observers; Stability analysis; Antisway control; mechanical systems; motion control; tower cranes
资金
- National Key R&D Program of China [2018YFB1309000]
- National Natural Science Foundation of China [61873134, U1706228]
- Young Elite Scientists Sponsorship Program by Tianjin [TJSQNTJ2017-02]
- Tianjin Research Innovation Project for Postgraduate Students [2019YJSB070]
This article presents a new output feedback control method for tower cranes to achieve rapid jib and trolley positioning and payload sway suppression while handling uncertain friction and actuator constraints. The asymptotic stability of the entire closed-loop system is proven by Lyapunov-based techniques, and comparative and robustness verifications are conducted through hardware experiments.
Tower cranes are a class of important and useful tools for the transportation of large cargoes, especially in high building construction. Moreover, the combination of jibs' rotational movements and trolleys' translational movements can fulfill three-dimensional payload transportation in a huge outdoor workspace. However, complicated dynamics and different unfavorable environmental conditions in practice make the effective control of tower cranes very challenging. In this article, based on the original dynamic models without any linearization manipulations, we present a new output feedback control method to accomplish rapid jib and trolley positioning and payload sway suppression. In particular, the velocity signals are accurately obtained by an elaborately designed observer, instead of numerical differentiation manipulations to the measurable output variables (which may distort the original velocities to some extent). Based on the velocity estimates, the suggested controller can also handle uncertain friction. Additionally, the actuator constraints are fully considered during controller design, i.e., the calculated control inputs are both within the permitted ranges, thereby avoiding actuator saturation and degrading the control performance. For the entire closed-loop system, including the proposed controller, the state observer, and tower cranes, the asymptotic stability is strictly proven by Lyapunov-based techniques. Finally, some comparative and robustness verifications are implemented by hardware experiments.
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