Control of the Tower Crane Using Input Shaping-Sliding Mode Control
Main Article Content
Abstract
Tower cranes are widely used for moving heavy goods, materials, or tools around a site. They help to speed up construction and save time and manpower in a process. However, a significant problem of tower cranes is oscillatory behavior, which can adversely impact safety and delivery accuracy. This paper proposes sliding mode control (SMC) combined with Input Shaping (IS) for controlling tower cranes. Sliding mode control itself can be used to control a tower crane to obtain position precision and vibration suppression. However, the selection of controller parameters may be difficult and the required control effort is high. In addition, chattering may occur. With the combination of input shaping, these problems can be overcome. The control parameter range is extended and the required control effort is reduced when input shaping is applied. In addition, input shaping also helps to reduce load vibration and chattering. Simulations in Matlab-Simulink have been done and the simulation results show the effectiveness of the proposed control algorithm.
Keywords
Tower crane, sliding mode control, input shaping, vibration suppression control.
Article Details
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.
References
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[8] Singhose, W. Command shaping for flexible systems: A review of the first 50 years. Int. J. Precis. Eng. Manuf. 10, 153-168, 2009. https://doi.org/10.1007/s12541-009-0084-2
[9] M. D. Duong, Q. T. Dao, and T. H. Do, Settling time optimization of a critically damped system with input shaping for vibration suppression control, Eng. Technol. Appl. Sci. Res., vol. 12, no. 5, pp. 9388-9394, Oct. 2022. https://doi.org/10.48084/etasr.5242
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[11] Hanafy M. Omar, Control of gantry and tower cranes, PhD thesis, Virginia Polytechnic Institute and State University, January 2003.
[12] S. Mobayen, Adaptive global terminal sliding mode control scheme with improved dynamic surface for uncertain nonlinear systems, International Journal of Control, Automation and Systems, vol. 16, no. 4, pp. 1692-1700, 2018 https://doi.org/10.1007/s12555-017-0473-8
[2] Slotine, J. J. and W. Li, Applied Nonlinear Control, Englewood Cliffs, NJ: Prentice-Hall, Inc., 1991.
[3] Vázquez C., Fridman L, Collado J., and Ismael Castill, Second-order sliding mode control of a perturbedcrane. Journal of Dynamic Systems, Measurement, and Control 137, no. 8, 2015. https://doi.org/10.1115/1.4030253
[4] Qian D., Yi J., Hierarchical Sliding Mode Control for Under-actuated Cranes. Heidelberg, Berlin: Springer, 2016 https://doi.org/10.1007/978-3-662-48417-3
[5] Le T. A., Dang V-H, Ko D. H., An T. N., Lee S-G. Nonlinear controls of a rotating tower crane in conjunction with trolley motion. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 227(5):451-460, 2013. https://doi.org/10.1177/0959651812472437 [6] Aboserre L. T., El-Badawy A. A. Robust integral sliding mode control of tower cranes. Journal of Vibration and Control, 27(9-10):1171-1183, 2021. https://doi.org/10.1177/1077546320938183
[7] Singer, N. C. and W. P. Seering, Preshaping command inputs to reduce system vibration. J. of Dynamic Sys., Measurement, and Control, 112, pp. 76-82, 1990. https://doi.org/10.1115/1.2894142
[8] Singhose, W. Command shaping for flexible systems: A review of the first 50 years. Int. J. Precis. Eng. Manuf. 10, 153-168, 2009. https://doi.org/10.1007/s12541-009-0084-2
[9] M. D. Duong, Q. T. Dao, and T. H. Do, Settling time optimization of a critically damped system with input shaping for vibration suppression control, Eng. Technol. Appl. Sci. Res., vol. 12, no. 5, pp. 9388-9394, Oct. 2022. https://doi.org/10.48084/etasr.5242
[10] Muenchhof, Marco, and Tarunraj Singh, Concurrent feed-forward/feedback design for flexible structures, In AIAA Guidance, Navigation, and Control Conference and Exhibit, p. 4941, 2002. https://doi.org/10.2514/6.2002-4941
[11] Hanafy M. Omar, Control of gantry and tower cranes, PhD thesis, Virginia Polytechnic Institute and State University, January 2003.
[12] S. Mobayen, Adaptive global terminal sliding mode control scheme with improved dynamic surface for uncertain nonlinear systems, International Journal of Control, Automation and Systems, vol. 16, no. 4, pp. 1692-1700, 2018 https://doi.org/10.1007/s12555-017-0473-8