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Grua_02

Crane systems are underactuated mechatronic devices used for transporting loads, which enhance industrial productivity but face challenges in controlling payload sway. Automation and feedback control methodologies are essential for improving performance and safety, with various approaches including open-loop and feedback schemes being explored. The document discusses different control strategies, highlighting their advantages and limitations, and emphasizes the importance of addressing disturbances in practical applications.

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rmiranda
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2 views1 page

Grua_02

Crane systems are underactuated mechatronic devices used for transporting loads, which enhance industrial productivity but face challenges in controlling payload sway. Automation and feedback control methodologies are essential for improving performance and safety, with various approaches including open-loop and feedback schemes being explored. The document discusses different control strategies, highlighting their advantages and limitations, and emphasizes the importance of addressing disturbances in practical applications.

Uploaded by

rmiranda
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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4 systems, their mechanical structure is uncomplicated.

Moreover, crane systems allow trans-


5 ferring quickly to the desired target, which is appealing to improve industry productivity
6 [1].
7 Generally, a crane system has a trolley for transporting a given load. Also, a hoist-
8 ing/lowering mechanism allows transferring the load vertically. Besides, a crane system can
9 quickly carry a load to a desired point in the working space while attenuating payload sway.
10 However, the load attached to the rope cannot be directly controlled, thus complicating the
11 reduction of payload sway. Specically, these mechatronic devices own fewer control inputs
12 than degrees of freedom, which makes them underactuated. Their study is attractive for
13 research purposes and to increase safety and productivity in the industry. Furthermore,
14 practical applications always encompass disturbances such as wind gusts, parameter varia-
15 tions, state estimation error, and friction [2]. Hence, automation of crane devices is necessary
16 to improve closed-loop performance and increase safety for the system and users [3].
17 Some applications related to crane systems include the relocation or transportation of
18 heavy or hazardous loads, shipload lifting, material transportation in harbors, and conveying
19 ship containers. A detailed tutorial overview can be consulted in [4].
20 The literature reports a variety of control methodologies applied to a crane system.
21 Predominantly, two approaches are utilized to accomplish the control objective: the open-
22 loop methodologies and feedback schemes [4, 5]. An open-loop technique concentrates on the
23 design of command signals to control the crane. Then, state measurements are unnecessary,
24 the design stage is simple, and its implementation is low cost [6]. However, this approach
25 assumes perfect system knowledge, making it prone to reduced performance when parameter
26 variations or disturbances occur. In contrast, feedback methodologies employ measurements
27 from the system to generate error signals that serve to design linear and nonlinear robust
28 schemes able to control the crane system even when parameter uncertainty, state estimation
29 error, or disturbances are present [4]. Hence, feedback control approaches are appealing for
30 controlling crane systems [7]. Besides, some schemes may employ a disturbance observer to
31 compensate for perturbations. This control methodology is usually known as observer-based
32 control [8].
33 Dierent approaches have been developed to apply feedback control for crane systems.
34 A supervisory methodology is formulated in [9] for crane devices with constant rope length;
35 this methodology allows the trolley to reach the reference signal while attenuating load sway;
36 simulations and experiments validate the control scheme; however, the control structure is
37 complex and low convergence rates are attained. Reference [2] develops a tracking con-
38 troller for a crane system; this scheme uses a Kalman lter to estimate the system states
39 and uncertainties and employs the atness theory to linearize the system; the controller at-
40 tains good closed-loop performance; however, low convergence time is attained, the control
41 design is complex, only friction is considered as disturbance, and no experimental data is
42 included. In [10], delay theory is used to design a proportional retarded controller; also, a
43 disturbance observer is used to compensate for disturbances; asymptotic stability is proved
44 theoretically, and experiments validate the proposal; the controller exhibits fast response
45 and attenuates payload sway eectively; however, implementing this methodology is cum-
46 bersome. A PD-like controller is developed in [11]; this methodology considers the crane

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