Anti-Sway and Positioning Adaptive Control of a Double-Pendulum Effect Crane System With Neural Network Compensation
Haiyan Qiang, Yougang Sun, Jinchao Lyu, Dashan Dong
Abstract
Cranes are widely used in the field of construction, logistics, and the manufacturing industry. Cranes that use wire ropes as the main lifting mechanism are deeply troubled by the swaying of heavy objects, which seriously restricts the working efficiency of the crane and even cause accidents. Compared with the single-pendulum crane, the double-pendulum effect crane model has stronger nonlinearity, and its controller design is challenging. In this paper, cranes with a double-pendulum effect are considered, and their nonlinear dynamical models are established. Then, a controller based on the radial basis function (RBF) neural network compensation adaptive method is designed, and a stability analysis is also presented. Finally, the hardware-in-the-loop experimental results show that the neural network compensation control can effectively improve the control performance of the controller in practice.