Reducing the mast vibration of single-mast stacker cranes by gain-scheduled control

Sándor Hajdu, P. Gáspár

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

In the frame structure of stacker cranes harmful mast vibrations may appear due to the inertial forces of acceleration or the braking movement phase. This effect may reduce the stability and positioning accuracy of these machines. Unfortunately, their dynamic properties also vary with the lifted load magnitude and position. The purpose of the paper is to present a controller design method which can handle the effect of a varying lifted load magnitude and position in a dynamic model and at the same time reveals good reference signal tracking and mast vibration reducing properties. A controller design case study is presented step by step from dynamic modeling through to the validation of the resulting controller. In the paper the dynamic modeling possibilities of single-mast stacker cranes are summarized. The handling of varying dynamical behavior is realized via the polytopic LPV modeling approach. Based on this modeling technique, a gain-scheduled controller design method is proposed, which is suitable for achieving the goals set. Finally, controller validation is presented by means of time domain simulations.

Original languageEnglish
Pages (from-to)791-802
Number of pages12
JournalInternational Journal of Applied Mathematics and Computer Science
Volume26
Issue number4
DOIs
Publication statusPublished - Dec 1 2016

Fingerprint

Gain control
Cranes
Controller Design
Vibration
Dynamic Modeling
Controllers
Design Method
Controller
Frame Structure
Dynamic Properties
Modeling
Dynamical Behavior
Positioning
Time Domain
Dynamic Model
Vary
Braking
Dynamic models
Simulation

Keywords

  • gain-scheduling
  • LPV systems
  • robust control
  • stacker cranes

ASJC Scopus subject areas

  • Computer Science (miscellaneous)
  • Engineering (miscellaneous)
  • Applied Mathematics

Cite this

Reducing the mast vibration of single-mast stacker cranes by gain-scheduled control. / Hajdu, Sándor; Gáspár, P.

In: International Journal of Applied Mathematics and Computer Science, Vol. 26, No. 4, 01.12.2016, p. 791-802.

Research output: Contribution to journalArticle

@article{c4d6d5bbef4d429b8e773f4b5908ba71,
title = "Reducing the mast vibration of single-mast stacker cranes by gain-scheduled control",
abstract = "In the frame structure of stacker cranes harmful mast vibrations may appear due to the inertial forces of acceleration or the braking movement phase. This effect may reduce the stability and positioning accuracy of these machines. Unfortunately, their dynamic properties also vary with the lifted load magnitude and position. The purpose of the paper is to present a controller design method which can handle the effect of a varying lifted load magnitude and position in a dynamic model and at the same time reveals good reference signal tracking and mast vibration reducing properties. A controller design case study is presented step by step from dynamic modeling through to the validation of the resulting controller. In the paper the dynamic modeling possibilities of single-mast stacker cranes are summarized. The handling of varying dynamical behavior is realized via the polytopic LPV modeling approach. Based on this modeling technique, a gain-scheduled controller design method is proposed, which is suitable for achieving the goals set. Finally, controller validation is presented by means of time domain simulations.",
keywords = "gain-scheduling, LPV systems, robust control, stacker cranes",
author = "S{\'a}ndor Hajdu and P. G{\'a}sp{\'a}r",
year = "2016",
month = "12",
day = "1",
doi = "10.1515/amcs-2016-0056",
language = "English",
volume = "26",
pages = "791--802",
journal = "International Journal of Applied Mathematics and Computer Science",
issn = "1641-876X",
publisher = "Walter de Gruyter GmbH",
number = "4",

}

TY - JOUR

T1 - Reducing the mast vibration of single-mast stacker cranes by gain-scheduled control

AU - Hajdu, Sándor

AU - Gáspár, P.

PY - 2016/12/1

Y1 - 2016/12/1

N2 - In the frame structure of stacker cranes harmful mast vibrations may appear due to the inertial forces of acceleration or the braking movement phase. This effect may reduce the stability and positioning accuracy of these machines. Unfortunately, their dynamic properties also vary with the lifted load magnitude and position. The purpose of the paper is to present a controller design method which can handle the effect of a varying lifted load magnitude and position in a dynamic model and at the same time reveals good reference signal tracking and mast vibration reducing properties. A controller design case study is presented step by step from dynamic modeling through to the validation of the resulting controller. In the paper the dynamic modeling possibilities of single-mast stacker cranes are summarized. The handling of varying dynamical behavior is realized via the polytopic LPV modeling approach. Based on this modeling technique, a gain-scheduled controller design method is proposed, which is suitable for achieving the goals set. Finally, controller validation is presented by means of time domain simulations.

AB - In the frame structure of stacker cranes harmful mast vibrations may appear due to the inertial forces of acceleration or the braking movement phase. This effect may reduce the stability and positioning accuracy of these machines. Unfortunately, their dynamic properties also vary with the lifted load magnitude and position. The purpose of the paper is to present a controller design method which can handle the effect of a varying lifted load magnitude and position in a dynamic model and at the same time reveals good reference signal tracking and mast vibration reducing properties. A controller design case study is presented step by step from dynamic modeling through to the validation of the resulting controller. In the paper the dynamic modeling possibilities of single-mast stacker cranes are summarized. The handling of varying dynamical behavior is realized via the polytopic LPV modeling approach. Based on this modeling technique, a gain-scheduled controller design method is proposed, which is suitable for achieving the goals set. Finally, controller validation is presented by means of time domain simulations.

KW - gain-scheduling

KW - LPV systems

KW - robust control

KW - stacker cranes

UR - http://www.scopus.com/inward/record.url?scp=85010378786&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85010378786&partnerID=8YFLogxK

U2 - 10.1515/amcs-2016-0056

DO - 10.1515/amcs-2016-0056

M3 - Article

AN - SCOPUS:85010378786

VL - 26

SP - 791

EP - 802

JO - International Journal of Applied Mathematics and Computer Science

JF - International Journal of Applied Mathematics and Computer Science

SN - 1641-876X

IS - 4

ER -