An active swing suppression control scheme of overhead cranes based on input shaping model predictive control
| Autor: | Weiqiang Tang, Erpeng Zhao, Lijuan Sun, Haiyan Gao |
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| Jazyk: | angličtina |
| Rok vydání: | 2023 |
| Předmět: | |
| Zdroj: | Systems Science & Control Engineering, Vol 11, Iss 1 (2023) |
| Druh dokumentu: | article |
| ISSN: | 21642583 2164-2583 |
| DOI: | 10.1080/21642583.2023.2188401 |
| Popis: | An input shaper-based model predictive control scheme is proposed for an overhead crane to suppress the swing of the payload. A control-oriented mathematical model of the crane is firstly derived based on the small angle hypothesis. Furthermore, three kinds of commonly used shapers are discussed and a zero vibration derivative shaper is selected for the crane. Then, a model predictive swing suppression controller is designed for the crane based on the selected shaper. Constraints on the control input and its slew rate are respected. Besides, the constraint on the swing angle of the payload is also respected as an output constraint. The constrained solution is given in the form of standard quadratic programming. The designed control scheme combines open-loop and closed-loop control techniques, achieving accurate positioning of the trolley and good swing suppression of the payload. A series of simulation demonstrates the effectiveness and advantages of the proposed scheme. |
| Databáze: | Directory of Open Access Journals |
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