Regular Papers
International Journal of Control, Automation, and Systems 2024; 22(1): 16-26
https://doi.org/10.1007/s12555-023-0298-6
© The International Journal of Control, Automation, and Systems
Super-twisting Sliding Mode Control of Container Cranes With Triangle-trapezoid Rope Reeving System
In this paper, the dynamics of a new type of container crane, in which eight ropes connect the trolley and spreader in a triangle-trapezoid shape, is developed. The triangle-trapezoid cable configuration for connecting the spreader with the trolley is introduced to reflect the dynamic aspects of the multi-rope reeving system. A supertwisting sliding mode control for the developed model is designed for accurate trolley position control and vibration suppression of the load. Due to its robustness property against external disturbance, satisfactory control performance is achieved. Finally, experimental results to validate the developed model and simulation results to verify the control algorithm are also provided in this study.
Keywords Anti-sway control, container crane, modeling, sliding mode control, vibration suppression.
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Regular Papers
International Journal of Control, Automation, and Systems 2024; 22(1): 16-26
Published online January 1, 2024 https://doi.org/10.1007/s12555-023-0298-6
Copyright © The International Journal of Control, Automation, and Systems.
Super-twisting Sliding Mode Control of Container Cranes With Triangle-trapezoid Rope Reeving System
Mingxu Piao, Muhammad Umer Hameed Shah, Guanghao Huang, and Keum-Shik Hong*
Pusan National University
Abstract
In this paper, the dynamics of a new type of container crane, in which eight ropes connect the trolley and spreader in a triangle-trapezoid shape, is developed. The triangle-trapezoid cable configuration for connecting the spreader with the trolley is introduced to reflect the dynamic aspects of the multi-rope reeving system. A supertwisting sliding mode control for the developed model is designed for accurate trolley position control and vibration suppression of the load. Due to its robustness property against external disturbance, satisfactory control performance is achieved. Finally, experimental results to validate the developed model and simulation results to verify the control algorithm are also provided in this study.
Keywords: Anti-sway control, container crane, modeling, sliding mode control, vibration suppression.
Vol. 22, No. 9, pp. 2673~2953
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