[1]CHEN He,WU Qingxiang,SUN Ning,et al.Overview of crane control methods for large-size cargo transportation[J].CAAI Transactions on Intelligent Systems,2022,17(4):824-838.[doi:10.11992/tis.202201055]
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Overview of crane control methods for large-size cargo transportation

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 17 Number of periods: 2022 4 Page number: 824-838 Column: 吴文俊人工智能科学技术奖论坛 Public date: 2022-07-05
Title:
Overview of crane control methods for large-size cargo transportation
Author(s):
CHEN He1;  WU Qingxiang2; 3;  SUN Ning2; 3;  YANG Tong2; 3;  FANG Yongchun2; 3
1. School of Artificial Intelligence, Hebei University of Technology, Tianjin 300401, China;
2. College of Artificial Intelligence, Nankai University, Tianjin 300350, China;
3. Key Laboratory of Intelligent Robotics of Tianjin, Nankai University, Tianjin 300350, China
Keywords:
crane; large-size cargo; double pendulum; multi-crane collaboration; underactuated system; swing suppression; dynamics modeling; motion control
CLC:
TP273
DOI:
10.11992/tis.202201055
Abstract:
With the rapid development of modern industry and infrastructure construction, crane systems for large-size cargo transportation are widely used in container handling, wind turbine installation, aircraft wing and fuselage movement, rotor installation of water turbogenerator, offshore drilling platform construction, and many other important fields due to their high carrying capacity and low costs. However, compared with the traditional point mass single pendulum crane system, the crane systems for large-size cargo transportation have a higher degree of underactuation, stronger state couplings, and more complex nonlinearity, which bring severe challenges to the high-efficiency and safe transportation control of large-size cargos. In this paper, the modeling, advantages and disadvantages of different hoisting forms of crane systems for large-size cargo transportation are briefly described. Then, the research status of point mass double pendulum crane systems, distributed mass double pendulum crane systems, and multi-crane cooperative transportation systems are introduced in detail. Finally, the research status of crane control systems for large-size cargo transportation is summarized, and the possible key problems and future research directions are discussed and prospected.
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