Adaptive Proportional-Derivative Sliding Mode Control Law With Improved Transient Performance for Underactuated Overhead Crane Systems

In this paper, an adaptive proportional-derivative sliding mode control(APD-SMC) law, is proposed for 2D underactuated overhead crane systems. The proposed controller has the advantages of simple structure, easy to implement of PD control, strong robustness of SMC with respect to external disturbances and uncertain system parameters, and adaptation for unknown system dynamics associated with the feedforward parts. In the proposed APD-SMC law, the PD control part is used to stabilize the controlled system, the SMC part is used to compensate the external disturbances and system uncertainties,and the adaptive control part is utilized to estimate the unknown system parameters. The coupling behavior between the trolley movement and the payload swing is enhanced and, therefore, the transient performance of the proposed controller is improved.The Lyapunov techniques and the La Salle's invariance theorem are employed in to support the theoretical derivations. Experimental results are provided to validate the superior performance of the proposed control law.

Swing Suppression and Accurate Positioning Control for Underactuated Offshore Crane Systems Suffering From Disturbances

Offshore cranes are widely applied to transfer largescale cargoes and it is challenging to develop effective control for them with sea wave disturbances. However, most existing controllers can only yield ultimate uniform boundedness or asymptotical stability results for the system's equilibrium point, and the state variables' convergence time cannot be theoretically guaranteed. To address these problems, a nonlinear sliding mode-based controller is suggested to accurately drive the boom/rope to their desired positions. Simultaneously, payload swing can be eliminated rapidly with sea waves. As we know, this paper firstly presents a controller by introducing error-related bounded functions into a sliding surface, which can realize boom/rope positioning within a finite time, and both controller design and analysis based on the nonlinear dynamics are implemented without any linearization manipulations. Moreover, the stability analysis is theoretically ensured with the Lyapunov method. Finally, we employ some experiments to validate the effectiveness of the proposed controller.

Model-Based Adaptive Predictive Control with Visual Servo of a Rotary Crane System

This paper investigated the implementation of an adaptive predictive controller using nonlinear dynamic echo state neural （ESN） model for a rotary crane system by the visual servo method. The control sequences within the control horizon were described using cubic spline interpolation to enlarge the predictive horizon. Verification of the proposed scheme in the face of exogenous disturbances and modeling error with inaccurate string length was demonstrated by both simulations and experiments.

Comparison of Different Control Algorithms for a Gantry Crane System

For a gantry crane system, this paper presents a comparison between four control algorithms. These algo-rithms are being compared on simplicity, stability and robustness. Goal for the controller is to move the load on a gantry crane to a new position with minimal overshoot of the load and maximal speed of the load. An-other goal is to provide an insight in the behaviour of the possible controllers. In this article a parallel P-controller, cascade P-controller, fuzzy controller and an internal model controller are used. To be able to validate and design the controllers a model is derived from the gantry crane. The controllers and the model are being implemented in Matlab Simulink. Finally the controllers are validated and tuned in Labview on a laboratory gantry scrane scale model. Main conclusion is that all presented controllers can be used as a con-troller for the gantry crane system but the fuzzy controller is showing the best performance.

Design and Develop Online Monitoring and Early-warning System of Crane Structural Stress

This paper proposed an online monitoring and early-warning system of dynamic stress of crane metal structure, and designed this system’s hardware,including sensor unit,data gathering unit,and controlling & processing unit of this sys- tem,and discussed the waterproof protection for resistance strain wafer and scheme of data gathering and transmission of dynamic strain gauge,moreover developed system software of real-time and online monitoring dynamic stress,including data gathering by DLL and data display & processing based on Visual C++.The system applies the dynamic strain gauge to gather the data of the stress,and communicates between PLC control system of crane and upper industrial computer,so that realize the real-time online monitoring and early-warning for crane’s metal structure stress.The test results show this system carry on real time and online monitoring to dynamic stress of loud-bearing metal structure longly and stability,and can give an alarm and overload protection on time.So the system has good practice value.

An Intelligent System for Real-Time Condition Monitoring of Tower Cranes

Reliability and safety are major issues in tower crane applications. A new adaptive neurofuzzy system is developed in this work for real-time health condition monitoring of tower cranes, especially for hoist gearboxes. Vibration signals are measured using a wireless smart sensor system. Fault detection is performed gear-by-gear in the gearbox. A new diagnostic classifier is proposed to integrate strengths of several signal processing techniques for fault detection. A hybrid machine learning method is proposed to facilitate implementation and improve training convergence. The effectiveness of the developed monitoring system is verified by experimental tests.

Research on a New Hybrid System of a Tyre Crane Using Supercapacitors

Research on a hybrid system of a crane is a focus which considers environmental protection and energy saving. A new environmental protection and energy saving hybrid system of tyre crane, which utilizes supercapacitors as the energy store device, is presented. Analyzing the principle of supercapacitors, the model of the crane＇s hybrid system is set up in this paper, and the model of main blocks are established. Through simulation analyzing, the energy saving result of the new hybrid system is obtained, and the good application value of the new hybrid system is explained.

Natural Frequency and Main Vibration Mode Analysis of the Braking System of Metallurgical Crane

The safety brake system of metallurgy bridge crane is generally composed of two separated block brake, brake disc, and torsion shaft. The analysis of natural frequency and main vibration mode on this two-degree torsion vibration system is the basement to study the vibration model and vibration performance. In this work, we investigated natural frequency of the braking system of metallurgical crane with analytic method. This provides a systematic guidance towards a successful brake system design

PI control based on fuzzy set-point weighting tracking for hydraulic crane boom system

A PI control strategy based on fuzzy set-point weighting following was proposed for the active damping control of a hydraulic crane boom system （HCBS）. Two valve-controlled PI controllers, which include a proportional feedforward controller based on fuzzy set-point weighting following and a limited semi-integrator（LSI）, are designed respectively. LSI is used to limit output signal and to prevent wind up at the low frequency of the spectrum. By using a range camera and an electronic feedback control, the tip damping on the HCBS can be adjusted artificially. A collaborative control simulation technique of HOPSAN and MATLAB/SIMULINK is applied to the controller design. Simulation results show that the proposed PI control system has less overshoot as well as faster response. The tip damping on the HCBS during operation is improved.

Research & design on the drive system of nuclear fuel manipulate crane

The control of nuclear fuel manipulator crane （MC） drive system is essential for its running and other systems are designed surrounding the drive system.This paper gives a brief introduction to the composition and function of MC,analyses its drive mode and control method and applies PLC to control its frequency transducer directly to help the motor work more stable.Based on the control requirements of bridge,trolley,Hoist,the control system of bridge applies a drive mode with 2-drag2 drive model on both sides and a multi-control method to realize simultaneous runningof two sides,1-drag-1 model on through-going axes and closed loop control method finish the precise location of trolley,and the using of 1-drag-1 model drive mode and closed loop control method solves the protect control difficulty of hoist which stops/starts repeatedly and changes speed.

Research of Supercapacitor Voltage Equalization Strategy on Rubber-Tyred Gantry Crane Energy Saving System

A model for supercapacitor voltage equalization strategy is analyzed, and on this basis a supercapacitor voltage equalization method for Rubber Tyred Gantry Crane (RTG) energy saving system is proposed, namely active voltage equalization method based on Buck-Boost converter. The equalizing speed of the proposed method is fast. Firstly, the working principle and process of the voltage equalization circuit is analyzed in detail. In addition, design of active voltage equalization circuit parameters and control strategy are given. Finally, simulation analysis of the series connection of supercapacitors module is performed. Results show that this method for equalizing voltage can avoid over-voltage of each cell and possess practicable and high value for supercapacitor RTG energy saving system.

Study on Integration Management and Control System of Port Cranes

This paper proposes the design scheme of Integration Management and Control System (IMCS) using the integration and optimization design theory of port cranes’ management and control system based on Enterprise Resource Planning (ERP), Manufacturing Execution System (MES) and Process Control System (PCS). The functions, interface and software design of the three sub-modules of IMCS are presented. Outcomes of this research are being employed to practical port cranes’ operation and management, which eliminates the island phenomenon of cranes’ storage and application conditions between the management and control department. Hence, IMCS makes the integrated automatic port cranes system come true and it significantly improves the core competitiveness of the port.

Evaluation of Driver-Induced Human Errors in Smart Construction Tower Crane Operations Based on DEMATEL-ISM-MICMAC

With the advent of Industry 4.0, smart construction sites have seen significant development in China. However, accidents involving digitized tower cranes continue to be a persistent issue. Among the contributing factors, human unsafe behavior stands out as a primary cause for these incidents. This study aims to assess the human reliability of tower crane operations on smart construction sites. To proactively enhance safety measures, the research employs text mining techniques (TF-IDF-Truncated SVD-Complement NB) to identify patterns of human errors among tower crane operators. Building upon the SHEL model, the study categorizes behavioral factors affecting human reliability in the man-machine interface, leading to the establishment of the Performance Shaping Factors (PSFs) system. Furthermore, the research constructs an error impact indicator system for the intelligent construction site tower crane operator interface. Using the DEMATEL method, it analyzes the significance of various factors influencing human errors in tower crane operations. Additionally, the ISM-MICMAC method is applied to unveil the hierarchical relationships and driving-dependent connections among these influencing factors. The findings indicate that personal state, operating procedures, and physical environment directly impact human errors, while personal capability, technological environment, and one fundamental organizational management factor contribute indirectly. .

Habitat utilization and resource partitioning of wintering Hooded Cranes and three goose species at Shengjin Lake

The loss and degradation of wetlands have adversely affected waterbirds, which depend on wetland habitats. Interspecific competition has an important effect on habitat utilization of wintering waterbirds. Resource utilization, including partitioning, in degraded wetlands has become a hot issue in ecological studies of wintering waterbirds. In order to have an insight into the habitat utilization and resource partitioning between a Hooded Crane(Grus monacha) population and the guild of three goose species, i.e., Anser fabalis, A. albifrons and A. erythropus wintering in lake wetlands, we carried out a study at Shengjin Lake National Nature Reserve from November 2011 to April 2012. We surveyed the Hooded Cranes and goose guild foraging in various habitats during the wintering periods with a combined method of fixed route searching and fixed site observations. Resource partitioning was studied by means of calculating habitat utilization rates and the width and overlap of spatial niches. The results showed that the habitat utilization rate and the width of spatial niches of the Hooded Crane population and goose guild shifted with the season. The habitat utilization rates of the cranes in grasslands were high at all three wintering stages. The habitat utilization rates were 0.454, 0.435 and 0.959 respectively for the Hooded Cranes and 0.627, 0.491 and 0.616 for the goose guild. This suggests that the overlap in grasslands was higher between cranes and goose guild. Most habitats were accessible at the middle stage, so the width of the spatial niche of the cranes(1.099) and goose guild(1.133) both reached their peak at this stage. The greatest niche overlap was 0.914 for these two groups at the late stage, followed by 0.906 at the middle stage and the smallest was 0.854 at the early stage. Ecological response to the changes in habitats of wintering waterbirds was clearly shown in the dynamic variations of the niche of both the Hooded Cranes and the three goose species. Coexistence among waterbirds was achieved by regulation of niche width to reduce niche overlap and relieve interspecific resource partitioning.

Fatigue behavior of crane beam strengthened with CFRP

In order to study the fatigue behavior of the damaged reinforced concrete （RC） beams strengthened by carbon fiber reinforced polymer （CFRP） laminate, three T-shaped beams strengthened by CFRP and one contrasting beam are tested under fatigue loading, with the parameters of different modes of strengthening and different fatigue load levels considered. The main results obtained from the tests are： the width of the crack decreases 50. 2% to 66%, and the development of the crack is limited; the stress of steel decreases 24. 1% to 28. 2%, and the stiffness increases 14.9% to 16. 1% after being strengthened. Based on the technical specification for strengthening concrete structures with CFRP and the conclusions from the tests, a calculating scheme of the flexure stiffness is given, which can be used for reference in engineering design. Finally, some suggestions are given for design in fatigue strengthening.

Effects of human disturbance on the Hooded Crane (Grus monacha) at stopover sites in northeastern China

There is a lack of information of whether the behavior pattern and physical condition of the Hooded Crane (Grus monacha) have been limited by conditions encountered at stopover sites in Changgou village,which is adjacent to Zhalong Nature Reserve in northeastern China,one of the most important stopover sites of this crane.The objective of our research was to investigatethe impact of human-caused disturbances on the Hooded Cranes.We investigated three behavior activities of the Hooded Cranes,i.e.,flying time,flushing distance and the duration of vigilance.The results indicate that the auditory stimuli caused by local people provoked the most pronounced disturbances to the Hooded Crane.Human-caused disturbances not only frequently interrupt the feeding process of the cranes,but also lead to an increase of 200％ in the duration of their vigilance and a significant increase in flying time from 0.4 to 0.7 h (p ＜ 0.05).In addition,high-intensity noise can cause larger flushing distances; foraging cranes will flush away by about 600 m when disturbed by the honking of vehicles.Whistles or shouts by local farmers in the field generated the largest sound intensity,about 120 dB,which caused a flushing distance of over 700 m.In order to reduce the negative effect of human-caused disturbances on these cranes,it is imperative to define a buffer zone around sensitive areas during the fall stopover period.To solve the conflict between the interest of farmers and the demand for crops on the part of the cranes requires financial compensation to the farmers for the crops consumed by the Hooded Crane in order to enhance the conservation of this vulnerable bird species.

Impact of marsh changes on breeding cranes in Sanjiang Plain,northeastern China

In order to measure the impact of changes in the marsh on breeding Red-crowned Cranes (Grus japonensis) and White-naped Cranes (G.vipio) in the Sanjiang Plain,we conducted a complete crane súrvey in each of the summers of 2007 and 2008,and obtained information on the changes in its marsh through interpretation of satellite images in 1986,1995,2000 and 2005.A comparison between the 1984 and 2008 census shows that:1) the number of Red-crowned Cranes remained stable at about 300 birds,while the number of White-naped Cranes increased markedly; 2) the estimates of nests of Red-crowned cranes are close to the numbers of 1984,while approximately 90％ of the nests of these two crane species were distributed over five national nature reserves (NNRs); 3) the two crane species became more concentrated in three regions,i.e.,the Fuyuan Delta,the middle reaches of the Naoli and Qixing rivers,and the Xingkai Lake wetlands,rather as formerly in six regions.The area of the marsh decreased by 45％ within the 20-year period from 1986 to 2005.The major loss of the marsh area was in the form of a conversion to paddy fields and dry land,which can be primarily attributed to direct human activity under various economic and policy drivers.The disappearance of cranes in the Dulu and Abuqin rivers was induced by large-scale agricultural development.The fragmentation into and isolation of small areas of the marsh became increasingly more serious,which resulted in unsuitable condtions for crane breeding in small patches of the marsh.The number of cranes declined from 1984-1995 but had recovered remarkably by 2008,which may be due to theestablishment of a system of nature reserves,in place since 2000.The land ownership of the reserve plays a key role in maintaining the integrity of the wetland ecosystem,especially in Sanjiang,Honghe,Naolihe and Qixinghe NNRs,which together accommodated approximately 80％ of the population of cranes.However,we did not discover any nests at all in the provincial and municipal reserves,which may be attributed to high human disturbances in these areas.In the end,we propose some recommendations on reserve management.

ROBOTIC DYNAMIC MODEL ON LOAD SWING OF SLEWING CRANE

This paper sets up a robotic manipulator model on slewing crane. The model can synthetically describe the dynamic behavior of the load of slewing crane in rotating, elevating and hoisting motions. The dynamic equations of the system are recursively derived by a Newton Euler method. The dynamic behavior of the load of slewing crane in rotating motion is simulated on a computer. The method of robotic dynamics to derive the dynamic equations of the swing of load is accurate and convenient and it has good regularity. The result of the study provides a base in theory on design of crane and an accurate mathematical model for controlling the swing of load.

Suitable distance to observe Red-crowned Cranes:a note on the observer effect

In order to assess the effect of the observer distance on the behavior of Red-crowned Cranes (Grus japonensis),we studied their time budgets with a gradient of observer distances in Yancheng,China from December 2008 to March 2009.Observer distance was classified into four levels,i.e.,＜ 200 m,200-300 m,300-400 m and ＞ 400 m.The results indicated that cranes increased their vigilance when the observer was less than 300 m away.A safe distance for the observer was often as far as or more than 300 m.Cranes increased scan frequency when observers were within 200 m,whereas they prolonged the duration of their scan when observers were between 200 m and 300 m away,indicating two distinct vigilant strategies,given the observer distance.We suggest an observer distance of at least 300 m,in order to minimize the observer effect.

Status and behavior of the Black-necked Crane (Grus nigricollis) in the Altun Mountain Reserve,Xinjiang

The Black-necked Crane (Grus nigricollis) is an endemic species of the Qinghai-Tibetan Plateau,with its population in Xinjiang largely found in the Kunlun and Altun mountain regions.A survey of the distribution,population dynamics,flock size and behavior was conducted in Altun Mountain National Natural Reserve from September to November 2011.We investigated the size and distribution of its population in this area with a sample spot survey and by direct counting.We found Black-necked Cranes on the wetlands of Wuzunxiaoer,Yusup Aleksei,Yaziquan,Qimantag,Tula Ranch and elsewhere,where we recorded 126 individual birds of the species in Yixiekepati (37° 15′-37°23′N,90°11′-90°20′E,elevation 3903 m),the largest population we have observed in this area.In the reserve,the population consists of about 180-200 birds.Combined with previous records,we conclude that more than 260 Black-necked Cranes live in Xinjiang.Cranes gathered conspicuously in the middle of October where the highest number of birds appeared on 29 October.All of the cranes had migrated out of this area by 6 November.Time budgets and diurnal behavior rhythms of Blacknecked Cranes were observed in the Yixiekepati wetland at daylight (from 06:00 to 18:00).Foraging was the most prevalent type of behavior during the autumn period,accounting for 58.9％ of the diurnal time budget,followed by preening (13.2％),vigilance (9.5％),walking (8.2％),flying (3.5％),resting (3.4％),chirping (2.7％) and other types of behavior (0.6％).