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Heavy lift crane vessels play an important role in offshore installations. Previous studies have shown that position control systems for these vessels can cause unstable positioning behavior during offshore construction assignments under specific conditions, e.g., change of environmental loads. Some control methods, such as crane force feedforward to the controller or the estimator, have been developed...
The paper presents an option for automation of the operational procedure at the concentrating coal factory by means of new methods and control algorithms. A crane control automatic system allows choosing the best possible motion trajectories for fast material handling operations and, regardless of processing and disturbing factors, controlling the dynamic state of the handled load which makes material...
This paper presents the approach to the adaptive control system design on the basis of fuzzy logic. The main idea is to create the operator's actions model for the jib crane operations automation. The ANFIS simulates the actions of a human operator during load positioning. Several optimization algorithms of ANFIS parameters tuning were compared. The results of modelling are suggested. As a result,...
A two-degree-of-freedom sliding mode controller (SMC) was proposed for the anti-swing and positioning control of overhead crane. The set-point response and load-disturbance response were regulated independently to overcome the shortage of traditional SMC. The proposed method can bring control system good characteristics of command tracking and disturbance as well as robustness. The feed-forward controller...
The method of electromechanical system of electric bridge crane with asynchronous motors modeling, which provides a skew correction and lateral displacement of the crane with high speed and accuracy, is presented. Results of modeling are shown. The direct torque control system is applied to control asynchronous motors. Four contactless distance sensors are used to analyze the position of the crane...
Many various mechanical systems such as robotic arms, conveyer drives, multimass systems contain flexible joints. Because of described feature these objects are vulnerable for oscillations. To reduce its occurrence input shaping method might be used. The algorithm of input shaping is very simple to use, provides good effects and doesn't require the changes in control loop. The algorithm's work is...
The subject of the paper is synthesis of a robust controller of the load swing during motion of overhead cranes. The approach implements fuzzy partition to the state variables. Stability is secured by employing the Lyapunov theory. The proposed methodology is the most appropriate for the presented problem since exact knowledge about the plant parameters is not needed. Numerical tests show the feasibility...
Rotary crane system is extensively used in many applications to carry payload from one position to another position. The cart and jib of the crane will start to accelerate in linear and rotational motions respectively when input signal to the crane system is applied. This will cause the swinging or swaying of the payload. Therefore, an anti-swing for automatic crane is usually proposed. This project...
In this paper, a new system identification method is proposed using genetic algorithm(GA), which the operating data, that is, closed-loop data, is utilized. Not only system parameters but also control parameters are estimated using the GA. Then, since control parameters are known, the reliability of estimates is evaluated in comparison of the estimates with true control parameters. In order to evaluate...
This paper will discuss a wireless control system for a loader crane, where the focus lies on the wireless communication protocol supporting the implementation of the real-time system. To aid the discussion, a system model is included, which together with the control strategy will allow low power consumption for the energy constraint sensor devices. A simple and power aware medium access control protocol...
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