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 Category | Article |
| Authors | Abduljabbar, Bilal H. and Billingsley, John |
| Journal Title | Journal of Applied Nonlinear Dynamics |
| Journal Citation | 10 (2), pp. 197-209 |
| Number of Pages | 13 |
| Year | 2021 |
| Publisher | L & H Scientific Publishing |
| Place of Publication | United States |
| ISSN | 2164-6457 |
| 2164-6473 | |
| Digital Object Identifier (DOI) | https://doi.org/10.5890/JAND.2021.06.001 |
| Web Address (URL) | https://www.lhscientificpublishing.com/Journals/JAND-Download.aspx?volume=2021&issue=2 |
| Abstract | 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. |
| Keywords | Anti-swing control; Modelling; Nested feedback; Pragmatic control; Tower crane |
| ANZSRC Field of Research 2020 | 400702. Automation engineering |
| Public Notes | Files associated with this item cannot be displayed due to copyright restrictions. |
| Byline Affiliations | University of Southern Queensland |
| Al-Anbar University, Iraq |
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