A Gantry Crane Control Using ADRC and Input Shaping
Main Article Content
Abstract
Gantry cranes are wildly used in various fields such as industry and transportation. There are various approaches to control cranes, but most of them are difficult in design and implementation in practice. Input shaping technique in combination with traditional PID controller is a practical approach but its performance is easily degraded by disturbance and parameter uncertainty. This paper proposes ADRC in combination with Input shaping approach in which ADRC is used to reject disturbance while keeping the simplicity in design as PID controller, and Input shaping plays the role of vibration suppression. Simulations show the effectiveness of the proposed approach.
Keywords
ADRC, Extended Observer, Input Shaping
Article Details
References
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[2] Yano, Kenichi, and Kazuhiko Terashima. Development and evaluation of operator support system for rotary cran. In Control Applications,(CCA) & Intelligent Control,(ISIC), 2009 IEEE, pp. 1637-1642. IEEE, 2009.
[3] Abdel-Rahman, Eihab M., Ali H. Nayfeh, and Ziyad N. Masoud. Dynamics and control of cranes: A review Modal Analysis 9, no. 7 (2003): 863-908.
[4] Hyla, Paweł. The crane control systems: A survey In Methods and Models in Automation and Robotics (MMAR), 2012 17th International Conference on, pp. 505-509. IEEE, 2012.
[5] J. Han, From PID to active disturbance rejection control, IEEE Trans. Ind. Electronics., (2009), Vol 56, No.3, pp. 900-906.
[6] Z. Gao, Y. Huang, J. Han, An alternative paradigm for control system design. Proceedings of 40th IEEE Conference on Decision and Control, Orlando, Florida, December 4-7, (2001), pp. 4578-4585.
[7] Z. Gao, Scaling and Parameterization Based Controller Tuning, Proceedings of the 2003 American Control Conference, (2003), pp. 4989-4996.
[8] Y. X. Su, C. H. Zheng, B. Y. Duan (2005), Automatic disturbances rejection controller for precise motion control of permanent-magnet synchronous motors, IEEE Trans. Ind. Electron. 52, 814–823.
[9] Q. Zheng, Z. Chen, Z. Gao (2007), A Dynamic Decoupling Control and Its Applications to Chemical Processes. Proceeding of American Control Conference, New York, USA.
[10] H. Yang et al. (2015), Back-stepping control of two-link flexible manipulator based on an extended state observer, Advance in Space Research, Vol.56, No.10, pp. 2312-2322.
[11] M. R. Stankovic et al. (2016), FPGA system-level based design of multi-axis ADRC controller, Mechatronics, Vol 40, pp. 146-155.
[12] T. Cai, H. Zhang, L. Gu, Z. Gao, On active disturbance rejection control of the payload position for gantry cranes, 2013 American Control Conference, USA, (2013), pp.425-430.
[13] M. Maila, S. Y. China, Disturbance rejection control applied to a gantry crane, Jurnal Mekanikal, (2008) No.25, 64-79.
[14] D. Yoo, S. S. T. Yau, Z. Gao, On convergence of the linear extended observer, Proceedings of the IEEE International Symposium on Intelligent Control, Munich, Germany. (2006), pp. 1645–1650.
[15] G. Herbs, A Simulative Study on Active Disturbance Rejection Control as a Control Tool for Practitioners, In Siemens AG, Clemens-Winkler-Straße 3, Germany (2013).