A Novel Emergency Braking Method with Payload Swing Suppression for Overhead Crane Systems

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• 关键词：Emergency braking ; Overhead cranes ; Underactuated systems ; Swing suppression
• 刊名：Lecture Notes in Computer Science
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：9719
• 期：1
• 页码：242-249
• 全文大小：253 KB
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• 作者单位：He Chen (16)
  Yongchun Fang (16)
  Ning Sun (16)
  
  16. Institute of Robotics and Automatic Information System (IRAIS), Tianjin Key Laboratory of Intelligent Robotics (tjKLIR), Nankai University, Tianjin, 300353, China
  
• 丛书名：Advances in Neural Networks ¨C ISNN 2016
• ISBN：978-3-319-40663-3
• 刊物类别：Computer Science
• 刊物主题：Artificial Intelligence and Robotics
  Computer Communication Networks
  Software Engineering
  Data Encryption
  Database Management
  Computation by Abstract Devices
  Algorithm Analysis and Problem Complexity
  
• 出版者：Springer Berlin / Heidelberg
• ISSN：1611-3349
• 卷排序：9719

文摘

In practice, to deal with emergency situations, emergency braking of overhead cranes plays an important role to ensure safety. However, a sudden braking of the trolley may cause uncontrollable swing of the payload, which is very dangerous and can probably lead to collision and even accidents. Therefore a proper emergency braking method with the consideration of payload swing suppression is of great importance. In this paper, we propose a novel method to achieve the emergency braking objective of overhead crane systems. In particular, after deep analysis, the control objective is divided into two parts. Then two kinds of control methods are proposed to achieve the corresponding objective. After that, we combine these control methods together and propose a novel emergency braking control method, which can ensure trolley braking, as well as payload swing suppression simultaneously. At last, simulation results are included to illustrate the superior control performance of the proposed method.