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Applications: Load Sway Example
Cranes load and unload containers to/from ships
- Load always sways- Swaying load may hit other
containers- Swaying load cannot be released
Applications: Load Sway Example
Cranes load and unload containers to/from ships
- Load always sways- Swaying load may hit other
containers- Swaying load cannot be released
Applications: Load Sway Example
Ineffective solutions:
1. Position the crane over the target and wait for sway to subside
2. Move container slow, so no sway occurs
3. Use additional links (cables) to fix the load in place and prevent sway
Applications: Load Sway Example
Most cranes are still controlled by human operators that have skills to quickly compensate the swaying of the load!
Why the problem was not solved by the classical control theory?
Applications: Load Sway Example
PID control:
- The problem is non-linear (for example, sway minimization is important only close to the target)
- Many unknown variables
Applications: Load Sway Example
Model-based control:
- Fifth-degree differential equation that describes the system
- Works in theory, does not work in practice(too many simplifications and unknown variables)
Applications: Load Sway ExampleHeuristic strategy:• Start with medium power. • If you get started and you are still far away from
target, adjust the motor power so that the container gets a little behind the crane head.
• If you are closer to the target, reduce speed so the container gets a little ahead of the crane head.
• When the container is very close to the target position, power up the motor.
• When the container is over the target and the sway is zero, stop the motor.
Applications: Load Sway Example
• if distance is positiveLarge then power is positiveLarge
• if distance is positiveLarge and (angle is negativeLarge or angle is positiveLarge) then power is positiveMedium
• if distance is positiveMedium then power is positiveMedium
• if distance is positiveMedium and (angle is negativeLarge or angle is positiveLarge) then power is positiveSmall
• if distance is positiveSmall then power is positiveSmall
• if distance is zero and angle is zero then power is zero
Rules to move the crane
Applications: Load Sway Example
• if (distance is zero or distance is positiveSmall or distance is negativeSmall) and angle is negative then power is positiveSmall
• if (distance is zero or distance is positiveSmall or distance is negativeSmall) and angle is positive then power is negativeSmall
Rules to prevent sway