Optimal motion planning for overhead cranes
نویسندگان
چکیده
Overhead cranes are widely used in industrial applications for material displacing. Many linear or nonlinear control schemes have been proposed for overhead cranes and implemented on electronic systems, but energy efficiency of transportation has seldom been considered in motion planning. This paper aims at finding an optimal solution of motion planning in terms of energy efficiency for overhead cranes. Using the optimal control method an optimal trajectory is obtained with less energy consumption than the compared trajectories and is also satisfying physical and practical constraints such as swing, acceleration, and jerk. Besides the energy optimal model, we also propose two other models to optimize time efficiency and safety during transportation. The results obtained have been compared with some existing motion trajectories, and have been shown to be superior to these benchmarks in terms of energy efficiency, time efficiency and safety respectively.
منابع مشابه
Anti-sway and Motion Planning Control of Overhead Cranes
Overhead cranes are usually operated manually to move heavy loads. Fast and smooth movements of the loads are the main objectives of crane operations. However, both the objectives always contradict with each other, so that it is hard to achieve positioning and swing control simultaneously by using conventional methods. This paper presents the adaptive fuzzy sliding mode controller (AFSMC) to re...
متن کاملGeneralized Design of an Anti-swing Fuzzy Logic Controller for an Overhead Crane with Hoist
The behavior of many mechanical systems, such as overhead cranes, can be predicted through intuitive observation of their motion under various forces. Mathematical modeling of an overhead crane shows that it is highly coupled. Nonetheless, it is surprisingly easy for an experienced crane operator to drive payloads to target positions with minimal cable swing. This observation naturally promotes...
متن کاملTrajectory Planning and Control of Overhead Cranes in the Work Environment with Obstacles
Abstract. Manipulating payloads with cranes can be challenging due to undesirable load pendulations induced by the crane motion and external perturbations. The problem gets increasingly difficult when the work environment is cluttered with obstacles. Automatic control schemes offer a high potential of rationalization. In this paper a methodology of constructing appropriate load trajectories all...
متن کاملThe optimal number of yard cranes in container terminal
The aim of this study is to propose a new mixed integer linear programming (MILP) model to find the minimum required number of yard cranes, Rubber tyred gantry cranes (RTGCs), for completion the total amount of works at the end of planning horizon. In other word, we find the optimal number of yard cranes in a container terminal which completes the total amount of works. The paper supports the p...
متن کاملApplication of Independent Joint Control Strategy for Discrete-Time Servo Control of Overhead Cranes
In this study, a new servo control system is presented for the overhead crane based on discrete-time state feedback approach. It provides both robust tracking and load swing suppression. Inspired from independent joint and computed torque control in robot manipulator field, a new model is derived in which the crane actuators are considered as the main plant. The crane nonlinearities are then tr...
متن کامل