Selected measurement and control techniques : experimental verification on a lab-scaled overhead crane

• Autorzy: Szpytko J. , Hyla P. , Kosoń-Schab A. , Smoczek J.

Identyfikatory

DOI

10.5604/01.3001.0010.3089

• Języki publikacji: EN

Abstrakty

EN

This article presents three independent concepts of use high-level technique with it adaptation and implementation concerning overhead travelling crane device type. The main objective of this statement applies a solution for device workspace mapping, payload anti-sway control techniques strategy use and possibility of reliable steel construction health monitoring. In the first chapter, the vision system technology for obstacle in workspace visualization was presented. The main idea depends on use stereovision system with sets of camera mounted under the crane’s trolley which movement with the crane shifts. The stereo pictures, after digital processing, were used for develop so-called dense disparity map. The described architecture allows achieving information about device surroundings and obstacle position in the workspace. As the final result was presented three-dimensional map of the device workspace with obtained result accuracy discussion. The second type of described problem developed in chapter two concern the crane control methodology of designing the anti-sway system for payload stabilizing during the crane movement. The oscillation of a payload adversely affects the accuracy of performed transportation tasks and may present a safety hazard to employees, transferred payload and surrounding objects. The invented and described method mainly base on so-called soft computing methods. The next part of the article-focused attention of problem concerning health monitoring cranes construction as other equipment’s as well. The problem concerns usually the large industrial cranes carry out transportation operations in the presence of a large impact load and mechanical stresses acting overall crane’s structure. The safety and efficiency of crane operations can be improved through providing the continuous structural health monitoring as well in on-line and off-line mode. The main idea allows using Metal Magnetic Memory technique for supervising and estimating steel construction actual condition. All tests and considerations were conducted on the scaled physical model of overhead travelling crane with hosting capability 150 kg

Słowa kluczowe

EN

overhead crane; modelling; vision systems; anti-sway control; Metal Magnetic Memory

• Wydawca: Łukasiewicz Research Network - Institute of Aviation ; European Science Society of Powertrain and Transport KONES Poland ; Wydawnictwo Instytutu Technicznego Wojsk Lotniczych
• Czasopismo: Journal of KONES
• Rocznik: 2017
• Tom: Vol. 24, No. 3
• Strony: 299--308
• Opis fizyczny: Bibliogr. 22 poz., rys.

Twórcy

autor

Szpytko J.

• AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Mickiewicza Av. 30, 30-059 Krakow, Poland tel.: [phone]

autor

Hyla P.

• AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Mickiewicza Av. 30, 30-059 Krakow, Poland tel.: [phone]

autor

Kosoń-Schab A.

• AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Mickiewicza Av. 30, 30-059 Krakow, Poland tel.: [phone]

autor

Smoczek J.

• AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Mickiewicza Av. 30, 30-059 Krakow, Poland tel.: [phone]

Bibliografia

• [1] Abdel-Rahman, E. M., Nayfeh, A. H., Masoud, Z. N., Dynamics and control of cranes: A review, Journal of Vibration and Control, Vol. 9 (7), pp. 863-908, 2003. 306
• [2] Dubov, A. A., Methodical guideline for inspection of electric locomotive power units (frog, shaft and spline joints) using the metal magnetic memory, Diagnostyka, Vol. 33, pp. 355-372, 2005.
• [3] Dubov, A. A., Principal features of metal magnetic memory method and inspection tools as compared to known magnetic NDT methods, Montreal World Conference on Non Destructive Testing, August 2004.
• [4] Gaska, D., Margielewicz, J., Haniszewski, T., Matyja, T., Konieczny, L., Chrost, P., Numerical identification of the overhead traveling crane’s dynamic factor caused by lifting the load off the ground, Journal of Measurements in Engineering, Vol. 3 (1), pp. 34-35, 2015.
• [5] Gaska, D., Pypno, C., Strength and elastic stability of cranes in aspect of new and old design standards, Mechanika 3, pp. 226-231, 2011.
• [6] Haniszewski, T., Modeling the dynamics of cargo lifting process by overhead crane for dynamic overload factor estimation, Journal of Vibroengineering, Vol. 19 (1), pp. 75-86, 2017.
• [7] Hyla, P., Single camera-based crane sway angle measurement method, Proceedings of the 19th International Conference of Methods and Models in Automation and Robotics MMAR 2014, pp. 736-741, Międzyzdroje, September 2-5, Poland, 2014.
• [8] Kosoń-Schab, A., Smoczek, J., Szpytko, J., Crane frame inspection using metal magnetic memory method, Journal of KONES Powertrain and Transport, Vol. 23, No. 2, pp. 185-191, Warsaw 2016.
• [9] Kosoń-Schab, A., Smoczek, J., Szpytko, J., Influence of load variation on magnetic memory method-based inspection of a beam, Hutnik – Wiadomości Hutnicze, Vol. 83 (12), pp. 532-535, 2016.
• [10] Ramli, L., Mohamed, Z., Abdullahi, A. M., Jaafar, H. I., Lazim, I. M., Control strategies for crane systems: A comprehensive review, Mechanical Systems and Signal Processing, Vol. 95, pp. 1-23, 2017.
• [11] Sawodnya, O., Aschemannb H., Lahresc S., An automated gantry crane as a large workspace robot, Control Engineering Practice, Vol. 10, pp. 1323-1338, 2002.
• [12] Singhose, W., Command shaping for flexible systems: A review of the first 50 years, International Journal of Precision Engineering and Manufacturing, Vol. 10 (4), pp. 153-168, 2009.
• [13] Smoczek, J., Fuzzy crane control with sensorless payload deflection feedback for vibration reduction, Mechanical System and Signal Processing, Vol. 46 (1), pp. 70-81, 2014.
• [14] Smoczek, J., Szpytko J., Particle swarm optimization-based multivariable generalized predictive control for an overhead crane, IEEE/ASME Transactions on Mechatronics, Vol. 22 (1), pp. 258-268, 2017.
• [15] Smoczek, J., Szpytko, J., Hyla, P., Non-collision path planning of a payload in crane operating space, Solid State Phenomena, Mechatronic Systems and Materials IV, Vol. 198, pp. 559-564, 2013.
• [16] Szpytko, J., Hyla, P., Disparity compute methods in three-dimensional scene reconstruction for overhead travelling crane work space visualization, Journal of KONES Powertrain and Transport, Vol. 19, No 3, pp. 421-428, Warsaw 2012.
• [17] Trąbka, A., The impact of the support system’s kinematic structure on selected kinematic and dynamic quantities of an experimental crane, Acta Mechanica et Automatica, Vol. 8 (4), pp. 189-193, 2014.
• [18] Vaughan J., Yano A., Singhose W., Comparison of robust input shapers, Journal of Sound and Vibration 315 (4-5), pp. 797-815, 2008.
• [19] Zhang, Y. L., Zhou, D., Jiang, P. S., Zhang, H. C., The state-of-the-art surveys for application of metal magnetic memory testing in remanufacturing, Advanced Materials Research, Vol. 301-303, pp. 366-372, 2011.
• [20] EN 13001−1: 2009, Cranes. General Design. Part 1: General Principles and Requirements.
• [21] EN 13001−2:2009, Cranes. General Design. Part 2: Load Actions.
• [22] EN 13001−3.1:2009, Cranes. General Design. Part 3-1: Limit States and Proof of Competence of Steel Structure.

Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017).