DocumentCode :
2086172
Title :
Anti-sway control for boom cranes
Author :
Sawodny, O. ; Aschemann, H. ; Kümpel, J. ; Tarin, C. ; Schneider, K.
Author_Institution :
Dept. of Meas., Control & Microtechnology, Ulm Univ., Germany
Volume :
1
fYear :
2002
fDate :
2002
Firstpage :
244
Abstract :
Increasingly boom cranes were used as harbor mobile cranes for container handling. In comparison to gantry cranes or overhead traveling cranes up until now there are only a few automation concepts for boom cranes, due to the dominant nonlinear plant behavior and the problem of measuring the rope angle, which the established methods can not be used. In this paper a trajectory tracking control for boom cranes is presented consisting of decentralized control modules and a trajectory generation module. Nonlinearities are compensated by a feedforward strategy and by gain scheduling adaptation of feedforward and feedback control. The rope angle is reconstructed out of gyroscope measurement signals by disturbance observers. The trajectory tracking control is realized on a harbor mobile crane LIEBHERR LHM 400. Measurement results show the efficiency of the presented control concept.
Keywords :
compensation; control nonlinearities; cranes; feedback; feedforward; tracking; vibration control; boom cranes; compensation; container handling; decentralized control; feedback; feedforward; nonlinearities; trajectory tracking; Automatic control; Automatic generation control; Automation; Containers; Cranes; Distributed control; Feedback control; Goniometers; Gyroscopes; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference, 2002. Proceedings of the 2002
ISSN :
0743-1619
Print_ISBN :
0-7803-7298-0
Type :
conf
DOI :
10.1109/ACC.2002.1024811
Filename :
1024811
Link To Document :
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