NDLI: Control of Slender-Beam Payloads During Lift-Up Operations

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Control of Slender-Beam Payloads During Lift-Up Operations

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Wang, Shenghai Ferri, Aldo Singhose, William Yang, Yujia
Copyright Year	2018
Abstract	When lifting up a long slender beam from ground, the payload may slip or move suddenly in unintended and unpredictable ways. This occurs during crane operations when the movements of the overhead trolley and the hoist cable are not properly coordinated. Also, it is difficult to keep the centers of hook and payload mass aligned with the pivot point when the payload is lifted off the ground, resulting in undesired hook and payload swing. The payload’s unintended sliding or swing can potentially cause damage and reduce efficiency. This paper divides the lift-up process into two phases including a constrained phase and a free hanging phase, develops a combination of PID controller and speed envelope to prevent slip in the constrained phase, and presents an observer-based Linear Quadratic Regulator (LQR) control strategy to stabilize the double-pendulum oscillations in the free hanging phase. The robustness of the proposed observer-based LQR was analyzed. Lift-up experiments were carried out to verify the controller development.
Sponsorship	Dynamic Systems and Control Division
File Format	PDF
ISBN	9780791851913
DOI	10.1115/DSCC2018-8967
Volume Number	Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control
Conference Proceedings	ASME 2018 Dynamic Systems and Control Conference
Language	English
Publisher Date	2018-09-30
Publisher Place	Atlanta, Georgia, USA
Access Restriction	Subscribed
Subject Keyword	Cranes Pendulums Control equipment Oscillations Hoists Robustness Damage Cables
Content Type	Text
Resource Type	Article

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