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Development and Experimental Validation of Nonlinear Control Theory for Tower Cranes

Research Project

Project/Area Number 20K04554
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Review Section Basic Section 21040:Control and system engineering-related
Research InstitutionOkayama Prefectural University

Principal Investigator

Xin Xin  岡山県立大学, 情報工学部, 教授 (70293040)

Project Period (FY) 2020-04-01 – 2024-03-31
Project Status Completed (Fiscal Year 2023)
Budget Amount *help
¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2022: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2021: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Fiscal Year 2020: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Keywords劣駆動系 / タワークレーン / 振り止め制御 / 非線形制御 / エネルギー制御法 / 安定性解析 / クレーン / 劣駆動システム / 振れ止め制御 / 安定化制御 / ロバスト制御
Outline of Research at the Start

タワークレーンの制御には、安全性を維持し、高速・正確な吊り荷の位置決めを実現しつつ、過渡時の吊り荷の振動と残留振動を抑制することが重要であるが、その滑車の並進運動とアームの回転運動のみで、非駆動である吊り荷の位置決めと揺れの制御に多くの挑戦的課題がある。本研究では、タワークレーンを対象とし、その非線形動特性や構造を活かして、その状態制約を考慮した最適軌道計画をするとともに、最適軌道への不確かなパラメータと外乱を考慮したロバストな適応追従制御、吊りロープの柔軟性を考慮した非線形制御に関する設計・解析法を構築し、その妥当性・有効性を実機実験により検証する。

Outline of Final Research Achievements

In this study, based on the principal investigator's experience in designing and analyzing nonlinear control systems for multi-degree-of-freedom underactuated robots, a trajectory tracking control rule was designed using a composite signal combining actuated and unactuated variables, leveraging the nonlinear dynamic characteristics and structure of tower cranes. This control rule was used to analyze crane operations and confirm that the objectives of trajectory tracking control were achieved. Furthermore, through experiments, it was demonstrated that the proposed control rule effectively suppresses payload oscillation and allows for precise jib positioning. Additional researches were conducted on damping control and controllability in other underactuated systems, establishing design and analysis methods for damping controls that minimize the real parts of the poles in closed-loop systems.

Academic Significance and Societal Importance of the Research Achievements

本研究は、自由度と制御入力数の差が2である高劣駆動度のタワークレーンを対象とし、非線形制御理論の構築と実機検証を行った。また、他の劣駆動システムにおける振り止め制御や可制御性に関する研究も行い、閉ループシステムの代表極の実部を最小化する振り止め制御の設計・解析方法を確立した。この成果は他の高劣駆動度のシステムや非線形性が強い様々な対象の高性能制御にも波及効果があると確信される。

Report

(5 results)
  • 2023 Annual Research Report   Final Research Report ( PDF )
  • 2022 Research-status Report
  • 2021 Research-status Report
  • 2020 Research-status Report
  • Research Products

    (22 results)

All 2024 2023 2022 2021 2020 Other

All Int'l Joint Research (5 results) Journal Article (11 results) (of which Int'l Joint Research: 10 results,  Peer Reviewed: 11 results,  Open Access: 1 results) Presentation (6 results) (of which Int'l Joint Research: 3 results)

  • [Int'l Joint Research] 中国東南大学(中国)

    • Related Report
      2023 Annual Research Report
  • [Int'l Joint Research] 東南大学(中国)

    • Related Report
      2022 Research-status Report
  • [Int'l Joint Research] 東南大学/南開大学/東北大学(中国)

    • Related Report
      2021 Research-status Report
  • [Int'l Joint Research] 東南大学(中国)

    • Related Report
      2020 Research-status Report
  • [Int'l Joint Research] 南開大学(中国)

    • Related Report
      2020 Research-status Report
  • [Journal Article] Nonlinear swing-down control of the Acrobot: Analysis and optimal gain design2023

    • Author(s)
      Xin Xin、Liu Yannian、Izumi Shinsaku、Yamasaki Taiga、She Jinhua
    • Journal Title

      ISA Transactions

      Volume: 140 Pages: 109-120

    • DOI

      10.1016/j.isatra.2023.06.011

    • Related Report
      2023 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] A signal compensation-based balance control for the rotary inverted pendulum system2023

    • Author(s)
      Li Yue、Xin Xin、Yan Yuhang
    • Journal Title

      Journal of Vibration and Control

      Volume: - Issue: 15-16 Pages: 3538-3558

    • DOI

      10.1177/10775463231196262

    • Related Report
      2023 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Linear controllability of two multi-link robotic systems with multiple unactuated joints2022

    • Author(s)
      Xin Xin、Liu Yannian、Zhang Kanjian
    • Journal Title

      ISA Transactions

      Volume: 131 Pages: 264-273

    • DOI

      10.1016/j.isatra.2022.05.028

    • Related Report
      2022 Research-status Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Energy-based swing-up control for a two-link underactuated robot with flexible first joint2022

    • Author(s)
      Peng Zhiyu、Xin Xin、Liu Yannian
    • Journal Title

      Nonlinear Dynamics

      Volume: 111 Issue: 1 Pages: 289-302

    • DOI

      10.1007/s11071-022-07831-7

    • Related Report
      2022 Research-status Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] A Signal Compensation-Based Robust Swing-Up and Balance Control Method for the Pendubot2022

    • Author(s)
      Wei Cui、Chai Tianyou、Xin Xin、Chen Xinkai、Wang Liangyong、Chen Ye-Hwa
    • Journal Title

      IEEE Transactions on Industrial Electronics

      Volume: 69 Issue: 3 Pages: 3007-3016

    • DOI

      10.1109/tie.2021.3065621

    • Related Report
      2021 Research-status Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Anti-Swing Control of the Pendubot using Damper and Spring with Positive or Negative Stiffness2021

    • Author(s)
      Xin Xin、Makino Kazunori、Izumi Shinsaku、Yamasaki Taiga、Liu Yannian
    • Journal Title

      International Journal of Robust and Nonlinear Control

      Volume: 32 Issue: 9 Pages: 1-20

    • DOI

      10.1002/rnc.5472

    • Related Report
      2021 Research-status Report 2020 Research-status Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Analysis of Synchronization of Multiple Identical Metronomes on a Cart via Describing Function Approach2021

    • Author(s)
      Xin Xin、Liu Yannian、Hara Shinji、Muraoka Yoshinori
    • Journal Title

      Asian Journal of Control

      Volume: - Issue: 6 Pages: 2931-2951

    • DOI

      10.1002/asjc.2725

    • Related Report
      2021 Research-status Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] New Adaptive Control Methods for n-Link Robot Manipulators With Online Gravity Compensation: Design and Experiments,2021

    • Author(s)
      Tong Yang, Ning Sun, Yongchun Fang, Xin Xin, and He Chen
    • Journal Title

      IEEE Transactions on Industrial Electronics

      Volume: 99 Issue: 1 Pages: 1-10

    • DOI

      10.1109/tie.2021.3050371

    • Related Report
      2021 Research-status Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Event‐triggered adaptive fixed‐time output feedback fault tolerant control for perturbed planar nonlinear systems2021

    • Author(s)
      Zhu Chenglong、Zhang Kanjian、Xin Xin、Gao Fangzheng、Wei Haikun
    • Journal Title

      International Journal of Robust and Nonlinear Control

      Volume: 31 Issue: 14 Pages: 6934-6952

    • DOI

      10.1002/rnc.5655

    • Related Report
      2021 Research-status Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Nonlinear motion control of complicated dual rotary crane systems without velocity feedback: Design, analysis, and hardware experiments2020

    • Author(s)
      Ning Sun, Yu Fu, Tong Yang, Jianyi Zhang, Yongchun Fang*, Xin Xin*
    • Journal Title

      IEEE Transactions on Automation Science and Engineering

      Volume: 17 Issue: 2 Pages: 1017-1029

    • DOI

      10.1109/tase.2019.2961258

    • Related Report
      2020 Research-status Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Nonlinear Sliding Mode Tracking Control of Underactuated Tower Cranes2020

    • Author(s)
      Liu Zhuoqing、Sun Ning、Wu Yiming、Xin Xin、Fang Yongchun
    • Journal Title

      International Journal of Control, Automation and Systems

      Volume: 19 Issue: 2 Pages: 1065-1077

    • DOI

      10.1007/s12555-020-0033-5

    • Related Report
      2020 Research-status Report
    • Peer Reviewed / Int'l Joint Research
  • [Presentation] Strong Stabilization of the Acrobot at the Down-Up Equilibrium Point2024

    • Author(s)
      Z. Y. Wang, X. Xin, and Y. Liu
    • Organizer
      22nd World Congress of International Federation of Automatic Control (IFAC2023)
    • Related Report
      2023 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Strong Stabilization of the Acrobot at the Down-Up Equilibrium Point2023

    • Author(s)
      Ziyu Wang, Xin Xin, Yannian Liu
    • Organizer
      22nd IFAC World Congress
    • Related Report
      2022 Research-status Report
    • Int'l Joint Research
  • [Presentation] 回式クレーンの振れ止め制御:理論と実験2022

    • Author(s)
      橋本竜英,忻欣,佐藤翔,泉晋作,山崎大河
    • Organizer
      第31回計測自動制御学会中国支部学術講演会(優秀賞受賞)
    • Related Report
      2022 Research-status Report
  • [Presentation] 代表極に基づく天井クレーンの最適振れ止めPD 制御ゲインの設計 (奨励賞受賞)2021

    • Author(s)
      佐藤翔,忻欣,泉晋作
    • Organizer
      第30 回計測自動制御学会中国支部学術講演会
    • Related Report
      2021 Research-status Report
  • [Presentation] Nonlinear Swing Down Control of the Acrobot2021

    • Author(s)
      Xin Xin、 Maki Sakurai、 Shinsaku Izumi、Taiga Yamasaki、Jinhua She、Yannian Liu
    • Organizer
      21st World Congress of International Federation of Automatic Control (IFAC2020)
    • Related Report
      2020 Research-status Report
    • Int'l Joint Research
  • [Presentation] タワークレーンの非線形振れ止め制御2020

    • Author(s)
      佐藤翔、牧野和倫、忻欣、泉晋作、山崎大河
    • Organizer
      第64回システム制御情報学会研究発表講演会
    • Related Report
      2020 Research-status Report

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Published: 2020-04-28   Modified: 2025-01-30  

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