A controller enabling precise positioning and sway reduction in bridge and gantry cranes 起重机设计.docx

A controller enabling precise positioning and sway reduction in bridge and gantry cranesKhalid L. Sorensen, William Singhose, Stephen DickersonThe George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, 813 Ferst Dr., MARC 257, Atlanta, GA 30332-0405, USAReceived 28 September 2005; accepted 30 March 2006Available online 5 June 2006AbstractPrecise manipulation of payloads is difficult with cranes. Oscillation can be induced into the lightly damped system by motion of the bridge or trolley, or from environmental disturbances. To address both sources of oscillation, a combined feedback and input shaping controller is developed. The controller is comprised of three distinct modules. A feedback module detects and compensates for positioning error; a second feedback module detects and rejects disturbances; input shaping is used in a third module to mitigate motioninduced oscillation. An accurate model of vector drive and AC induction motors, typical to large cranes, was used jointly with a deconvolution analysis technique to incorporate the nonlinear dynamics of crane actuators into the control design. The controller is implemented on a 10-ton bridge crane at the Georgia Institute of Technology. The controller achieves good positioning accuracy and significant sway reduction. r 2006 Elsevier Ltd. All rights reserved.Keywords: Input shaping; Command shaping; Crane control; Oscillation control; Anti-sway; Bridge crane; Gantry crane1. IntroductionBridge and gantry cranes occupy a crucial role within industry. They are used throughout the world in thousands of shipping yards, construction sites, steel mills, warehouses, nuclear power and waste storage facilities, and other industrial complexes. The timeliness and effectiveness of this manipulation system are important contributors to industrial productivity. For this reason, improving the operational effectiveness of cranes can be extremely valuable.These structures, like the one shown in Fig. 1,