Boom cranes are among the most common material handling systems due to their simple design. Some boom cranes also have an auxiliary jib connected to the boom with a flexible joint to enhance the maneuverability and increase the workspace of the crane. Such boom cranes are commonly called knuckle boom cranes. Due to their underactuated properties, it is fairly challenging to control knuckle boom cranes. To the best of our knowledge, only a few techniques are present in the literature to control this type of cranes using approximate models of the crane. In this paper we present for the first time a complete mathematical model for this crane where it is possible to control the three rotations of the crane (known as luff, slew, and jib movement), and the cable length. One of the main challenges to control this system is how to reduce the oscillations in an effective way. In this paper we propose a nonlinear control based on energy considerations capable of guiding the crane to desired sets points while effectively reducing load oscillations. The corresponding stability and convergence analysis is proved using the LaSalle's invariance principle. Simulation results are provided to demonstrate the effectiveness and feasibility of the proposed method.
翻译:起重机是最常见的材料操作系统之一,因为其设计简单。有些起重机也有一个与起重机连接的辅助性jib, 并有一个灵活的连接点, 以提高起重机的可操作性和增加工作空间。 此类起重机通常被称为“ 起重机 ” 。 由于起重机的触动特性不足, 控制起重机是相当困难的。 据我们所知, 文献中只有几种技术可以使用起重机的近似型号来控制这种类型的起重机。 在本文中, 我们首次为起重机提供了完整的数学模型, 它可以控制起重机的三次旋转( 被称为“ 跳重机 ” 、 旋转和 跳动) 以及电缆长度。 控制这个系统的主要挑战之一是如何有效减少振动。 在本文中, 我们建议基于能源因素进行非线性控制, 能够引导起重到预期的设定点, 同时有效减少负重振动。 相应的稳定性和趋同性分析被证明使用 LaSalle 的不耐久原则。 提供模拟结果, 以显示拟议方法的有效性和可行性。