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Nonlinear Anti-swing Control of Underactuated Tower Crane Based on Improved Energy Function

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Abstract

The control system of tower crane exhibits strong nonlinearity in the process of control execution, which is prone to the problems of inaccurate positioning control of the payload and difficult anti-swing control. Aiming at the problems, this paper proposes a control law based on improved energy coupling analysis for suppressing the payload swing in the tower cranes. A three-dimensional dynamic model of tower crane system with considering friction is established, and an improved energy coupling signal is designed. The coupling relationship of trolley movement and payload swing, jib rotation and payload swing are considered, then a nonlinear anti-swing controller is established in order to reduce the swing. The closed-loop stability of the system with the controller is verified by the Lyapunov method and LaSalle invariance principle, simulations and experimental analyses are performed to verify the controller performance. The control performance of the controller is compared with other classic and typical current control methods, and the proposed controller outperformed other controllers. The anti-swing controller proposed in this paper has accurate positioning, and can achieve precise control when the payload is transported, reaching the set target position in a little time and eliminating residual swing angle. Meanwhile the proposed controller has a good control robustness, which can restore stability in around a very short time when the rope length and payload mass of the system’s inherent property are changed and external interference is added. In addition, when different target position parameters are uncertain, the proposed control law has good robust performance.

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Authors and Affiliations

  1. School of Mechanical Engineering, Shenyang Jianzhu University, Shenyang, 110168, China

    Huai-Tao Shi, Jian-Qi Huang & **aotian Bai

  2. Key Lab E&M, Zhejiang University of Technology, Hangzhou, 310014, China

    **ang Huang

  3. The State Key Laboratory of Rolling and Automation, Northeastern University, Shenyang, 110819, China

    Jie Sun

Authors
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  3. **aotian Bai
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  4. **ang Huang
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  5. Jie Sun
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Correspondence to **aotian Bai.

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This research was supported by National Science Foundation of China under Grant 52075348, Science&technology planning project of MOHURD under Grant 2019-K-080, Key R&D Program of Hebei Province under Grant 19211904D, Key science and technology research project of Shenyang under Grant 20-202-4-40, and Key innovate R&D Program of Shenyang under Grant Y19-1-004.

Huaitao Shi received his B.S. and Ph.D. degrees in control engineering from Northeastern University, Shenyang, China, in 2005 and 2012, respectively. He has been a Professor with the Faculty of Mechanical Engineering, Shenyang Jianzhu University, Shenyang, where he has also been the Vice Dean, since 2014. He is the author of more than 40 articles, (26 articles were indexed by SCI), and six patents. His current research interest includes research on nonlinear underactuated system and hybrid ceramic ball-bearing.

Jianqi Huang was born in Chengde, Hebei, in 1994. He received his B.S. degree in mechanical engineering from University of **an, **an, China, in 2018. He is currently pursuing a master’s degree in mechanical engineering with the School of Mechanical Engineering, Shenyang Jianzhu University, Shenyang, China. His research interest is automatic control of underactuated cranes.

**aotian Bai was born in Wanghua, Fushun, Liaoning, China, in 1989. He received his B.S. degree in mechanical engineering from the Dalian University of Technology, Dalian, in 2011, and his M.S. and Ph.D. degrees in mechanical engineering from the Shenyang University of Technology, in 2013 and 2016, respectively. He has been an Assistant Professor with the faculty of Mechanical Engineering, Shenyang Jianzhu University, Shenyang, China, since 2019. His current research interest is about the establishment of kinetic model and the vibration and sound radiation of bearings.

**ang Huang received his B.S. degree in computer science and technology from Nan**g University of Information Science and Technology in 2007, an M.S. degree in applied computer science from Nan**g University of Aeronautics and Astronautics in 2010, and a Ph.D. degree in mechanical engineering from South China University of Technology in 2013. He worked as an Assistant Professor in Zhejiang University of Technology between 2014 and 2020. His current research interest is about computational modeling and optimization of porous structures.

Jie Sun received his B.S. and Ph.D. degrees from Northeastern University, Shenyang, China, in 2005 and 2011, respectively. He has been an Assistant Professor with the State Key Laboratory of Rolling Technology and Continuous Rolling Automation, Northeastern University, Shenyang. He is the author of more than 50 articles, (24 articles were indexed by SCI). His current research interest includes research on R & D of continuous rolling process simulation and automatic control technology.

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Shi, HT., Huang, JQ., Bai, X. et al. Nonlinear Anti-swing Control of Underactuated Tower Crane Based on Improved Energy Function. Int. J. Control Autom. Syst. 19, 3967–3982 (2021). https://doi.org/10.1007/s12555-020-0292-1

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  • DOI: https://doi.org/10.1007/s12555-020-0292-1

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