Vibration Control and Smart Integrated Transportation Strategy of Crane Systems

Abstract

Abstract This paper presents number of vibration control schemes and smart integrated transportation strategies for crane systems. First, robust control problem of payload’s skew rotation in crane systems is discussed. A robust integral sliding mode controller is proposed to realize skew transportation without residual vibration. Robust stability conditions with respect to parametric uncertainties of the closed-loop system are imposed on control gains. Second, transportation of bulk material using an overhead crane system is considered, in which the transferred material can be dropped/discharged while in the air. This paper introduces a new concept, named tossing control methodology, to enhance transportation productivity. A specific type of tossing controller is established, which relies on the phenomenon of linear resonance. It will be shown that the resonance-based tossing control is able to break the time limitation of the minimum-time vibration suppression control. Simulation and experimental results are provided to verify the effectiveness of the proposed control systems. Finally, a diffusion-based obstacle-avoidance path planning method for crane systems is outlined to realize a fully autonomous crane in future.