Algorithms for Cable-Suspended Payload Sway Damping by Vertical Motion of the Pivot Base

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F21%3A00345198" target="_blank" >RIV/68407700:21220/21:00345198 - isvavai.cz</a>

Nalezeny alternativní kódy

RIV/68407700:21730/21:00345198

Výsledek na webu

<a href="https://doi.org/10.1016/j.ymssp.2020.107131" target="_blank" >https://doi.org/10.1016/j.ymssp.2020.107131</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.ymssp.2020.107131" target="_blank" >10.1016/j.ymssp.2020.107131</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Algorithms for Cable-Suspended Payload Sway Damping by Vertical Motion of the Pivot Base

Popis výsledku v původním jazyce

The solution of a case study problem of suspended payload sway damping by moving a pivot base in vertical direction is presented. Unlike for the classical problem of anti-sway control for moving the base in the horizontal direction, implemented e.g. in cranes, a direct solution by using control feedback theory for linear systems is not possible. Once the model is linearized, it becomes uncontrollable. Thus, a derivation of a nonlinear controller is needed to solve the task. In this context, two solutions are proposed. The first solution is based on imposing harmonic motion of the base with double frequency of the payload natural frequency. Synchronization of the base and the payload deflection angle is done either by proportional time-delay controller or by proportional-derivative delay free controller. Secondly, the Lyapunov’s second method is directly applied to derive a nonlinear controller. For both cases, balancing the dissipated energy, rules for determining equivalent damping are explicitly derived. After discussing and solving the corresponding implementation aspects, both simulation and experimental validations are performed. The experimental validation is performed on a simplified problem, where only horizontal motion is possible. The simulation based validation is performed on a nonlinear two dimensional model of a quadcopter carrying a suspended payload.

Název v anglickém jazyce

Algorithms for Cable-Suspended Payload Sway Damping by Vertical Motion of the Pivot Base

Popis výsledku anglicky

The solution of a case study problem of suspended payload sway damping by moving a pivot base in vertical direction is presented. Unlike for the classical problem of anti-sway control for moving the base in the horizontal direction, implemented e.g. in cranes, a direct solution by using control feedback theory for linear systems is not possible. Once the model is linearized, it becomes uncontrollable. Thus, a derivation of a nonlinear controller is needed to solve the task. In this context, two solutions are proposed. The first solution is based on imposing harmonic motion of the base with double frequency of the payload natural frequency. Synchronization of the base and the payload deflection angle is done either by proportional time-delay controller or by proportional-derivative delay free controller. Secondly, the Lyapunov’s second method is directly applied to derive a nonlinear controller. For both cases, balancing the dissipated energy, rules for determining equivalent damping are explicitly derived. After discussing and solving the corresponding implementation aspects, both simulation and experimental validations are performed. The experimental validation is performed on a simplified problem, where only horizontal motion is possible. The simulation based validation is performed on a nonlinear two dimensional model of a quadcopter carrying a suspended payload.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/LTAUSA17103" target="_blank" >LTAUSA17103: Algoritmy řízení se zpožděním pro budoucí transportní bezpilotní prostředky</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2021

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Mechanical Systems and Signal Processing

ISSN

0888-3270

e-ISSN

1096-1216

Svazek periodika

149

Číslo periodika v rámci svazku

February

Stát vydavatele periodika

GB - Spojené království Velké Británie a Severního Irska

Počet stran výsledku

15

Strana od-do

—

Kód UT WoS článku

000587905100010

EID výsledku v databázi Scopus

2-s2.0-85090041434