Pendulation reduction on ship-mounted container crane via T-S fuzzy model

Abstract

Ship-mounted container cranes are challenging industrial applications of nonlinear pendulum-like systems with oscillating disturbance which can cause them unstable. Since wave-induced ship motion causes the hoisted container to swing during the transfer operation, the swing motion may be dangerously large and the operation must be stopped. In order to reduce payload pendulation of ship-mounted crane, nonlinear dynamics of ship-mounted crane is derived and a control method using T-S fuzzy model is proposed. Simulation results are given to illustrate the validity of the proposed design method and pendulation of ship-mounted crane is reduced significantly.

Keywords

ship-mounted crane / disturbance / pendulation control / T-S fuzzy model

References

[1] Al-GarniA. Z., MousatafaK. A. F., Javeed NizamiS. S. A. K.. Optimal control of overhead cranes [J]. Control Engineering Practice, 1995, 3(9): 1277-1284

[2] BartoliniG., PisanoA., UsaiE.. Second-order sliding mode control of container cranes [J]. Automatica, 2002, 38(10): 1783-1790

[3] YangJ. H., YangK. S.. Adaptive coupling control for overhead crane systems [J]. Mechatronics, 2007, 17(2/3): 143-152

[4] ChoS. K., LeeH. H.. A fuzzy-logic antiswing controller for three-dimensional overhead cranes [J]. ISA Transactions, 2002, 41(2): 235-243

[5] ChangC. Y., ChiangK. H.. Fuzzy projection control law and its application to the overhead crane [J]. Mechatronics, 2008, 18(10): 607-615

[6] ParkH., ChwaD., HongK. S.. A feedback linearization control of container cranes: Varying rope length [J]. International Journal of Control, Automation, and Systems, 2007, 5(4): 379-387

[7] OmarH. M., NayfehA. H.. Gantry cranes gain scheduling feedback control with friction compensation [J]. Journal of Sound and Vibration, 2005, 281(1/2): 1-20

[8] HongK. T., HuhC. H., HongK. S.. Command shaping control for limiting the transient sway angle of crane systems [J]. International Journal of Control, Automation, and Systems, 2003, 1(1): 43-53

[9] SorensenK. L., SinghoseW. E., DickersonS.. A controller enabling precise positioning and sway reduction in bridge and gantry cranes [J]. Control Engineering Practice, 2007, 15(7): 825-837

[10] SawodnyO., AschemannH., LahresS.. An automated gantry crane as a large workspace robot [J]. Control Engineering Practice, 2002, 10(12): 1323-1338

[11] VaughersT.. Joint logistics over the shore operations [J]. Naval Engineers Journal, 1994, 106(3): 256-263

[12] MasoudZ. N.A control system for the reduction of cargo pendulation of ship-mounted cranes [D], 2000, Virginia, Virginia Polytechnic Institute and State University

[13] HenryR. J., MasoudZ. N., NayfehA. H., MookD. T.. Cargo pendulation reduction of ship-mounted cranes via boom-luff angle actuation [J]. Journal of Vibration and Control, 2001, 7: 1253-1264

[14] MasoudZ. N., DaqaqM. E., NayfehN. A.. Pendulation reduction on small ship-mounted telescopic cranes [J]. Journal of Vibration and Control, 2004, 10: 1167-1179

[15] SchaubH.. Rate-based ship-mounted crane payload pendulation control system [J]. Control Engineering Practice, 2008, 16(1): 132-145

[16] TakagiT., SugenoM.. Fuzzy identification of systems and its applications to modeling and control [J]. IEEE Trans Syst, Man, Cybern, 1985, 15: 116-132

[17] TanakaK., IkedaT., WangH. O.. Fuzzy regulators and fuzzy observers: Relaxed stability conditions and LMI-based designs [J]. IEEE Trans Fuzzy Systems, 1998, 6(2): 250-265