Article: Anti-swing strategy of overhead cranes based on prescribed performance PID control Journal: International Journal of Wireless and Mobile Computing (IJWMC) 2020 Vol.18 No.2 pp.194 - 203 Abstract: How to ensure anti-swing and adaptive control for cranes when used in complex outdoor environment such as docks is a difficult problem. Although the traditional PID control can solve the problem of robust adaptive and disturbance rejection very well, the quality of PID parameters depends too much on the experience of adjusting parameters or requires a lot of trial and error, so a new non-linear PID control method is proposed in this paper. The theory of prescribed performance control is introduced, and a non-linear closed-loop PID controller is designed based on the idea of performance function and error conversion of prescribed performance control. As the parameter adjustment is more flexible, the system has better robustness, adaptability and immunity to disturbance. Experiment results show that using the designed anti-swing strategy can effectively realise the anti-swing and it has excellent anti-interference ability. Inderscience Publishers - linking academia, business and industry through research

Title: Anti-swing strategy of overhead cranes based on prescribed performance PID control

Authors: Xianghua Ma; Zhenkun Yang; Wei Lin; Wenjie Li; Gang Wu; Bin Wei

Addresses: School of Electrical and Electronic Engineering, Shanghai Institute of Technology, Shanghai 201418, China ' School of Electrical and Electronic Engineering, Shanghai Institute of Technology, Shanghai 201418, China ' School of Electrical and Electronic Engineering, Shanghai Institute of Technology, Shanghai 201418, China ' Dalian Huarui Heavy Crane Co., Ltd., Dalian 116013, China ' Dalian Huarui Heavy Crane Co., Ltd., Dalian 116013, China ' Dalian Huarui Heavy Crane Co., Ltd., Dalian 116013, China

Abstract: How to ensure anti-swing and adaptive control for cranes when used in complex outdoor environment such as docks is a difficult problem. Although the traditional PID control can solve the problem of robust adaptive and disturbance rejection very well, the quality of PID parameters depends too much on the experience of adjusting parameters or requires a lot of trial and error, so a new non-linear PID control method is proposed in this paper. The theory of prescribed performance control is introduced, and a non-linear closed-loop PID controller is designed based on the idea of performance function and error conversion of prescribed performance control. As the parameter adjustment is more flexible, the system has better robustness, adaptability and immunity to disturbance. Experiment results show that using the designed anti-swing strategy can effectively realise the anti-swing and it has excellent anti-interference ability.

Keywords: overhead crane system; anti-swing closed-loop control; non-linear closed-loop PID controller; prescribed performance.

DOI: 10.1504/IJWMC.2020.105715

International Journal of Wireless and Mobile Computing, 2020 Vol.18 No.2, pp.194 - 203

Received: 23 Jul 2019
Accepted: 09 Oct 2019
Published online: 09 Mar 2020 *

Full-text access for editors Full-text access for subscribers Purchase this article Comment on this article

Title: Anti-swing strategy of overhead cranes based on prescribed performance PID control

Keep up-to-date