In this paper, a new dynamic model of a three-dimensional overhead crane is derived based on a newly defined two-degree-of-freedom swing angle. The dynamic model describes the simultaneous traveling, traversing, and hoisting motions of the crane and the resulting load swing. For anti-swing control, this paper proposes a decoupled control scheme based on the dynamic model linearized around the stable equilibrium. The decoupled scheme guarantees not only rapid damping of load swing but also accurate control of crane position and load hoisting for the practical case of simultaneous traveling, traversing, and slow hoisting motions, which is also proven by experiments.

Issue Section:
Technical Papers
Topics:
Control modeling, Gantry cranes, Dynamic models, Stress, Cranes, Damping, Equilibrium (Physics)
1.
Desoer
C. A.
,
1969
, “
Slowly Varying System x˙ = A(t)x
,”
IEEE Trans. on Automatic Control
, Vol.
AC-14
, pp.
780
–
781
.
2.
Doyle, J. C., Francis, B. A., and Tannenbaum, A. R., 1992, Feedback Control Theory, Maxwell MacMillan International Book Company.
3.
Greenwood, D. T., 1988, Principles of Dynamics, Prentice-Hall, Inc.
4.
Lee
H.-H.
,
1997
, “
Modeling and Control of a 2-Dimensional Overhead Crane
,”
Proceedings of the ASME Dynamic Systems and Control Division
, DSC-Vol.
61
, pp.
535
–
542
.
5.
Lee, H.-H., Cho, S.-K., and Cho, J.-S., 1997, “A New Anti-Swing Control of Overhead Cranes,” Proceedings of IFAC International Workshop on Automation in the Steel Industry, July 16–18, Korea, pp. 137–142.
6.
Luca
A. D.
, and
Siciliano
B. S.
,
1991
, “
Closed-Form Dynamic Model of Planar Multilink Lightweight Robots
,”
IEEE Trans. on Systems, Man, and Cybernetics
, Vol.
21
, No.
4
, pp.
826
–
839
.
7.
Meirovitch, L., 1970, Methods of Analytical Dynamics, McGraw-Hill.
8.
Mita
T.
, and
Kanai
T.
,
1979
, “
Optimal Control of the Crane System Using the Maximum Speed of the Trolley (in Japanese with English abstracts)
,”
Trans. Soc. Instrument. Control Eng. (Japan)
, Vol.
15
, pp.
833
–
838
.
9.
Moustafa
K. A. F.
, and
Abou-El-Yazid
T. G.
,
1996
, “
Load Sway Control of Overhead Cranes with Load Hoisting Via Stability Analysis
,”
JSME International Journal, Series C
, Vol.
39
, No.
1
, pp.
34
–
40
.
10.
Moustafa
K. A. F.
, and
Ebeid
A. M.
,
1988
, “
Nonlinear Modeling and Control of Overhead Crane Load Sway
,”
ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL
, Vol.
110
, pp.
266
–
271
.
11.
Ohnishi, E., Tsuboi, I., and Egusa, T., 1981, “Automatic Control of an Overhead Crane,” Reprints of IFAC World Congress, Kyoto, Japan, pp. 1885–1890.
12.
Ridout, A. J., 1987, “New Feedback Control System for Overhead Cranes,” Electric Energy Conference, Adelaide, pp. 135–140.
13.
Rosenbrock
H. H.
,
1963
, “
The Stability of Linear Time-dependent Control Systems
,”
Journal of Electronics and Control
, Vol.
15
, pp.
73
–
80
.
14.
Starr
G. P.
,
1985
, “
Swing Free Transport of Suspended Loads with a Path Controlled Robot Manipulator
,”
ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL
, Vol.
107
, pp.
97
–
100
.
15.
Yu, J., Lewis, F. L., and Huang, T., 1995, “Nonlinear Feedback Control of a Gantry Crane,” Proceedings of American Control Conference, Seattle, pp. 4310–4315.
This content is only available via PDF.
Copyright © 1998
 by The American Society of Mechanical Engineers
You do not currently have access to this content.