Modeling and advanced sliding mode controls of crawler cranes considering wire rope elasticity and complicated operations

•Developing a dynamic nonlinear model for crawler cranes considering the heavy working conditions and the elasticity of handling wire ropes.•Proposing the advanced sliding mode controllers with finite-time convergence.•The control systems are robust in the face of strong external disturbances and pa...

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Veröffentlicht in:Mechanical systems and signal processing 2018-03, Vol.103, p.250-263
Hauptverfasser: Tuan, Le Anh, Lee, Soon-Geul
Format: Artikel
Sprache:eng
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Zusammenfassung:•Developing a dynamic nonlinear model for crawler cranes considering the heavy working conditions and the elasticity of handling wire ropes.•Proposing the advanced sliding mode controllers with finite-time convergence.•The control systems are robust in the face of strong external disturbances and parametric uncertainties. In this study, a new mathematical model of crawler cranes is developed for heavy working conditions, with payload-lifting and boom-hoisting motions simultaneously activated. The system model is built with full consideration of wind disturbances, geometrical nonlinearities, and cable elasticities of cargo lifting and boom luffing. On the basis of this dynamic model, three versions of sliding mode control are analyzed and designed to control five system outputs with only two inputs. When used in complicated operations, the effectiveness of the controllers is analyzed using analytical investigation and numerical simulation. Results indicate the effectiveness of the control algorithms and the proposed dynamic model. The control algorithms asymptotically stabilize the system with finite-time convergences, remaining robust amid disturbances and parametric uncertainties.
ISSN:0888-3270
1096-1216
DOI:10.1016/j.ymssp.2017.09.045