Anti-Sway control of container cranes in the presence of friction

Ngo Quang Hieu *

* Corresponding author (nqhieu@ctu.edu.vn)

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Received: 23 May 2013
Accepted: 24 Dec 2013
Published: 31 Dec 2013
Title: Anti-Sway control of container cranes in the presence of friction
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How to Cite
Hiếu, N. Q. (2013). Anti-Sway control of container cranes in the presence of friction. CTU Journal of Science, (29), 8-14. Retrieved from https://ctujsvn.ctu.edu.vn/index.php/ctujsvn/article/view/1693
Issue
No. 29 (2013)
Section
Engineering Technology

Abstract

In this paper, an anti-sway control scheme for a container crane that is used for vessel-to-truck and truck-to-vessel loading and unloading of containers at a container terminal is investigated. The control objectives are to move a container to a desired position and to suppress its transverse vibration produced by trolley motion in the presence of the friction force and the control input saturation. In this study, friction coefficients are estimated using the recursive least squares (RLS) method, and the friction force is incorporated into a nonlinear control law. The designed control input for control of the trolley motion is modified to satisfy the saturation condition of the actuator (electrical motor). The nonlinear control law guarantees the asymptotical stability of the closed-loop system. Simulation and experimental results verify the efficiency of the proposed algorithm.
Keywords: Anti-sway control, Friction estimation, Recursive least squares method

Tóm tắt

Trong bài báo này, một phương thức điều khiển chống lắc cho cần cẩu container đang được sử dụng để vận chuyển container tại các cảng container được phát triển. Mục tiêu điều khiển là di chuyển container đến vị trí mong muốn và ngăn chặn việc dao động ngang của container trong quá trình di chuyển với sự tồn tại của lực ma sát. Trong nghiên cứu này, hệ số ma sát được ước tính bằng phương pháp bình phương cực tiểu hồi qui (RLS), và lực ma sát được tích hợp trong luật điều khiển phi tuyến. Luật điều khiển phi tuyến đảm bảo sự ổn định tiệm cận của hệ điều khiển vòng kín. Kết quả mô phỏng và thực nghiệm xác nhận tín hiệu quả của thuật toán đề xuất.
Từ khóa: Điều khiển chống lắc, ước lượng ma sát, phương pháp bình phương cực tiểu hồi qui

Article Details

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