A Novel Emergency Braking Method with Payload Swing Suppression for Overhead Crane Systems
In practice, to deal with emergency situations, emergency braking of overhead cranes plays an important role to ensure safety. However, a sudden braking of the trolley may cause uncontrollable swing of the payload, which is very dangerous and can probably
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Abstract. In practice, to deal with emergency situations, emergency braking of overhead cranes plays an important role to ensure safety. However, a sudden braking of the trolley may cause uncontrollable swing of the payload, which is very dangerous and can probably lead to collision and even accidents. Therefore a proper emergency braking method with the consideration of payload swing suppression is of great importance. In this paper, we propose a novel method to achieve the emergency braking objective of overhead crane systems. In particular, after deep analysis, the control objective is divided into two parts. Then two kinds of control methods are proposed to achieve the corresponding objective. After that, we combine these control methods together and propose a novel emergency braking control method, which can ensure trolley braking, as well as payload swing suppression simultaneously. At last, simulation results are included to illustrate the superior control performance of the proposed method.
Keywords: Emergency braking systems · Swing suppression
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Overhead cranes
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Underactuated
Introduction
In industry, to transport heavy payloads to desired positions, cranes systems, including overhead cranes, tower cranes, boom cranes, and offshore cranes [1], are widely used. To simplify the mechanical structure and reduce the cost, the payload is usually linked to the trolley or the boom by a rope, which leads to the fact that the payload cannot be controlled directly. This kind of design usually results in the fact that the number of control inputs of crane systems is less than to-be-controlled degrees of freedom. Systems with this behavior are known as underactuated systems [2], which are more difficult to be controlled properly compared with full actuated systems, due to the unactuated property. As a typical underactuated system, the overhead crane system is always operated by experienced workers. However, long time working may cause fatigue and c Springer International Publishing Switzerland 2016 L. Cheng et al. (Eds.): ISNN 2016, LNCS 9719, pp. 242–249, 2016. DOI: 10.1007/978-3-319-40663-3 28
Emergency Braking Method for Overhead Crane Systems
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operation errors, which is very dangerous. Therefore, automatic control design for overhead crane systems is very important. So far, the control problem of overhead crane systems has attracted attentions of researchers with a series of control methods presented. For example, Singhose et al. [3–5] propose a series of open loop methods based on the idea of input shaping, which can suppress the payload swing with few sensors. By deeply analyzing the system energy, Sun et al. present some passivity based control methods which can achieve asymptotically stable results in [6,7]. To deal with unknown disturbance/uncertainties, in [8–10], some sliding mode control methods are proposed, which show great robustness. Considering that system parameters cannot be obtained accurately, researchers propose some adaptive methods, which can obtain satisfactory performance w.r
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