# Control of a Tower Crane with a Pragmatic Hierarchical Algorithm

Article

Abduljabbar, Bilal H. and Billingsley, John. 2021. "Control of a Tower Crane with a Pragmatic Hierarchical Algorithm." Journal of Applied Nonlinear Dynamics. 10 (2), pp. 197-209. https://doi.org/10.5890/JAND.2021.06.001
Article Title Control of a Tower Crane with a Pragmatic Hierarchical Algorithm Article Abduljabbar, Bilal H. and Billingsley, John Journal of Applied Nonlinear Dynamics 10 (2), pp. 197-209 13 2021 L & H Scientific Publishing United States 2164-6457 2164-6473 https://doi.org/10.5890/JAND.2021.06.001 https://www.lhscientificpublishing.com/Journals/JAND-Download.aspx?volume=2021&issue=2 Tower crane systems are commonly used at construction sites. The need to damp the swinging of the load presents a task requiring great skill for manual control. This has led earlier researchers to apply elaborate control strategies. In this paper, we propose the use of a ‘pragmatic’ paradigm to define a system that can move the load to the desired target with little or no swing. The essence of pragmatic control is gleaned from autopilot designs of half a century ago. The control is designed as a set of ‘nested loops’. The error in an outer loop defines a demand value for the next inner loop, so for example the load position error defines a corrective velocity. In each case the demand is subjected to a limit. This is continued through each layer until the innermost loop, which might take the form of a velocity loop wrapped around a motor to give crisp velocity control. The dynamic model is derived as a state space representation. The proposed strategy was tested by MATLAB which showed that the strategy is successful and effective to control a tower crane system and suppress the load swing. Comparisons are made between the performance of this simples control strategy and that of the complex published alternatives. Anti-swing control; Modelling; Nested feedback; Pragmatic control; Tower crane 400702. Automation engineering Files associated with this item cannot be displayed due to copyright restrictions. University of Southern Queensland Al-Anbar University, Iraq

https://research.usq.edu.au/item/qq4yy/control-of-a-tower-crane-with-a-pragmatic-hierarchical-algorithm

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