NGHIEN cuu-TRAO DOI NGHIEN CU'U THU'C NGHIfM HE T H N G DI^U KHIEN C6NG TRUC N6I EXPERIMENTAL CONTROL OF FLOATING GANTRY CRANES Pham Van Trieu, Hoang Manh Cirdng, Le Anh Tuan Trudng Dai hgc Hang hai Viet Nam TOM TAT Bdi bdo gi&i thieu mot he thong cdn true dat tren nen dao dpng phong thi nghiem, v&i muc dich gid lap hoat dpng vd kiem chimg chdt lucmg bo dieu khien s6 cho doi tupng cong true ddt tren tdu hoat dpng ngodi bien He th6ng ca bao g6m mpt c6ng true 3D co ndng tdi vd mpt he robot bdc tu Gough-Stewart dung de tao dao dpng song Bp dieu khien so trung tdm duac cdi dat tren dong vi dieu khien MyRIO-1900, co cdu true m& de thu nghiem cdc bp dieu khien khdc Giao dien ngu&i-mdy tren phdn mem Labvew duac xdy dung bao gom cdc chice ndng ca bdn nhu: Thiet lap yeu cdu cua ngu&i su dung vd gidm sdt qud trinh dpng hoc ciia he th6ng Bp dieu khien truat ca bdn duac cdi dat de kiem chung chdt luang thudt todn dieu khien vd khd nang dap ung he thdng Tir khoa: Cong true noi; Dieu khien truat ABSTRACT This paper introduces a crane system mounted on a flexible foundation, which aims to simulate the operation and evaluate the quality of digital controllerfor the offshore container crane that mounted on a ship The mechanical design consists of a 3D crane in which the cable length can be adjusted to hoist the cargo, and a 6-DOF robot namely Gough-Stewart platform used for generating the sea wave excitation The central digital controller is based on the microcontroller kit MyRIO-1900 with the openness for implementing the different control laws The human-machine interface includes various functions like setting the desired positions, monitoring the system dynamics The conventional sliding-mode control is utilized to verify the effectiveness of control algorithms as well as the response of closed-loop system Keywords: Floating container crane; Sliding-Mode Control ISSN 0866 - 7056 TAP CHi CO KHi VIET NAM Sd 1+2 nam 2019 www.cokhivietnam.vn NGHIEN cuu-TRAO DOI DAT VAN DE Cdng true la mdt thilt bi ddng vai trd quan trpng viec van chuyen va nang container tai cac cang bien Qua trinh boat ddng cua cdng true phai dugc dam bao an toan d miic cao nhat, bdi vi neu xay tai nan cd the gay nguy hiem tdi tinh mang ciia cdng nhan Cling nhu pha hiiy may mdc va hang hda xung quanh Vi vay, tinh tin cay va ben viing cua luat dieu khien la chi tieu khdng the thieu vdi cac bg dieu khien cdng nghiep Tuy nhien, khd khan gap phai la tinh thieu ca cau chap hanh ciia he thdng, nghTa la sd lugng tin hieu dieu khien it ban sd bac tu cua he Dieu dan den rung lac khdng mong mudn ciia tai trpng va cd the gay nguy hiem cho cac cdng nhan hay may mdc, hang hda xung quanh Do dd, viec thiet ke cac bd dieu khien thich hgp la hit siic can thiet Mat khac, Uong thuc te hien nay, mdt sd cang bien tren the gidi va Viet Nam ed ludng hep va ndng, gay khd khan cho cac tau container cd Idn (sieu trudng, sieu trpng) cd the tiep can va bdc, da hang hda Vi ly dd, su hien dien cua cac tau dupe trang bi he thdng cdng true de xep dd va chuyen tai tai ngoai bien, hay cdn dugc gpi vdi cai ten "cang di ddng" [1 ], cang trd nen phd biln Dieu khien cho viec dieu khien boat dgng cua cdng true dat tren tau se trd nen khd khan ban nhieu, he thdng chiu tac ddng manh cua dao ddng sdng bien hay thay ddi tai trpng gid Van de ve md hinh ddng lire hpc va dieu khien cac he thdng cdng true hoat ddng ngoai bien da dugc de cap den mdt sd nghien ciru trude day [1], [2] Cac nghien ciru gan day ciia cac tac gia ciing tap trung vao chu dl dilu khiin cho cdng true dat tren nen dao dgng [3], [4] Trong cac nghien cuu tren, md hinh ddng luc hgc ciia cdng true 2D dat tren nen dao ddng va dan hii dugc xay dung, sau dd cac bd dieu khiin phi mydn dugc xay dung dya tren cac ky thuat dilu khidn trugt, dilu khiin phan hdi tuydn tinh hoa timg phan, dieu khien thich nghi Ddi vdi mo hinh cdng true 3D, [5] md hinh 3D cd xet din nang tai dugc dua va bd dieu khiin trugt tang cung nhu trugt tang thich nghi mang na-ron dugc su dung nham dn dinh he thong Chat lugng ciia cac bg dieu khien cac cdng trinh ke tren mdi chi dugc danh gia thong qua md phdng sd Trong [6], cac tac gia da cai dat thuat toan dieu khien trugt thich nghi cho cdng true 2D dat tren tau bien, tren mo hinh phdng thi nghiem Bai bao se md ta chi tiet hon ve he thdng thuc nghiem dupe sir dung [6], ddng thdi ket qua day du cho md hinh cdng true 3D cung dugc dua Bai bao dugc cau tnic theo trinh hi nhu sau: Phan trinh bay sa luge ve md hinh ciia he thdng va thiet ke dieu khien trugt cho doi tugng; Phan 3: Md ta chi tiet md hinh nguyen mau phdng thi nghiem; Phan 4: Dua cac ket qua thyc nghiem va cudi ciing cac ket luan chung dugc neu Phin MO HINH HE THONG VA THIET KE HE THONG DIEU KHIEN 2.1 Mo hinh toan he thong Sa dd vat ly cua cdng true dat tren tau dugc minh hpa nhu Hinh He thdng bao gdm mpt gian khdi lugng m^ di chuyen dgc theo true X va dupe truyin ddng bdi luc U^, mgt xe khdi lugng m^ di chuyen dgc theo true Y va dugc truyin ddng bdi lyc U Vj tri cua gian va xe so vdi gdc cac tnic tpa dugc dinh nghia lin lugt la S^ va S Cap nang vdi chidu dai / cd thd thay ddi dugc bing ISSN 0866 - 7056 TAP CHi CO KHI VIET NAM Sd 1+2 nam 2019 www.cokhivietnam.vn NGHIEN cuu-TRAO 06l lyc Uj de nang va tai Gdc lie cua cap nang theo hai phuong dugc dinh nghia bing hai biln va (p Mgt sd gia thiet dugc dua nhim dan gian hda rad hinh he thdng nhu sau: Bd qua ma sat, cap nang cd khdi lupng va dd co dan khdng dang ke, tai trpng va xe dugc coi nhu cac chat dilm, tbanh gian dupe coi nhu thing ddng chat Md hinh ddng luc hpc ciia chuyin ddng khdng gian cua cdng true, da dugc trinh bay [5], nhu sau: Vi vay, viec thiet ke bd dieu khien phu hgp la tuang ddi khd khan Mat khac, kha nang iing dung vao thuc te cua bd dieu khien cung la mdt yeu td can tinh tdi Neu cau tnic bd dieu khiin qua phiic tap va cdng kinh, kha nang cai dat bp dieu khien sd, cung nbu tinh tin cay se giam di Do dd, bai bao se xet tdi bd dilu khiin trugt, da dugc trinh bay [4], de kiem nghiem chat luong bd dieu khien va dap ling cua he thdng Cdng thiic ciia bd dieu khien trucft duac cbo nhu sau: |2pq„+pq.+P^IKq.-q^)l M(q)q-J-C(q,q)q-{-G(*5)=U+W (1) U,{q,q) M(q) + P ( K q „ - q J + K jnjW (2) + c^(q.q)q^ + c^(q,q)q, + G(q) Vdi ,v I (f la vec to cac tga suy rgng, ii-k'_ {_;_ v\ o of la vec ta luc truyen ddng, (m, q) la ma tran quan tinh, C(q,q)la ma tran quan tinh ly tam va Coriolis, G(q) la vec-ta lyc trpng trudng, W la vec-ta cac lyc nhieu ngoai, bao gdm lyc gay kich dgng sdng bien va tai trgng gid Chi tiet cac phan tin hieu dieu khien da dugc the hien rd rang [4] MO HINH HE THONG TRONG PHONG THI NGHIEM 3.1 Mo hinh phdng thi nghiem He thdng cdng true dat tren nen dao ddng phdng thi nghiem dugc the hien nhu Hinh 2, vdi muc dich md phdng hoat ddng ciia cdng true tren cac tau bien dudi cac anh hudng ciia sdng va gid He thdng co bao gdm md birih cdng true 3D vdi chieu dai cap nang thay ddi dugc, va robot Gough-Stewart bac tu de tao dao Hinh Mo hinh vdt ly ciia hi cdng true ddt ddng sdng tren tdu He thdng cdng true 3D duac thilt kl 2.2 Thuat toan dieu khien vdi chieu cao met, chieu rdng met, chidu dai 1.6 met, cbo phep nang va van chuyin tai Tir md hinh ddng lyc hpc cua he thdng, trpng tdi da 20 kg Hai xe dupe truyin ddng ta nhan thay he cdng true dat tren tau la mdt bdi hai dpng ca xoay chieu khdng ddng bd ba he hyt dan ddng, lai chju anh hudng cua nhieu pha chuyin ddng theo cac true X, Y Trong ddng gay sdng bien va gid, cac yeu td dd, mpt ddng co mdt chiiu cd hop sd giam toe la ngau nhien va khd ludng tren thyc te dugc su dung dl nang tai trpng '^ ISSN 0866 - 7056 TAP CHi CO KHi VIET NAM, Sd 1+2 nam 2019 www.cokhivietnam.vn NGHIEN c u u - T R A O eOl kit slave dl pbdi hgp chuyen ddng cua chiing thdng qua truyen thdng I2C Cac kit ardruino la board mach vi xir ly, nham xay dyng cac img dyng tuong tac vdi hoac vdi mdi truang dugc thuat lgi hon Dao ddng cua de sdng dugc thiet kl theo quy luat ham ngiu nhien Quy dao dsit dugc thilt kl va quy dao cac bien khdp dugc tinh toan theo bai toan ddng hpc ngugc sir dung phin mim Microsoft Excel, trude bp du lieu biln khdp theo thdi gian dugc nap vao kit Master Hinh Hinh dnh cdng true ddt tren nen dao 3.2 He thdng dieu khien s6 dpng phong thi nghiem Hinh He robot Gough-Stewart tao dao dpng song Ben canh dd, he robot song song bac tu Gough-Stewart [7] nhu Hinh dupe sii dyng de gia lap dao ddng ciia sdng bien De kich ddng ban chat la robot song song sau bac ty do, tao chuyen ddng theo sau phuang khac gdm cd phuang theo true X, true Y, true Z va ba gdc la cac md men nghieng, dpc-xudng, dao lai (roll, pich, yaw) He robot Gough-Stewart dupe dieu khien bdi mgt kit Master Arduino MEGA 2560 va kit Slave Arduino UNO Cac kit slave cd vai trd dieu khien chuyen ddng ciia timg khdp Kit master cd vai trd truyen dir lieu cua cac bien khdp theo thdi gian thuc tdi cac He thdng md hinh cdng true container phdng thi nghiem dugc thi hien chi tiet so dd Hinh 4, he thdng gdm hai phan chinh la cdng true container va de kich dpng Cdng true container dugc trang bi ba dpng co dien, dd hai ddng co xoay chieu ba pha dupe sir dung de thyc hien viec dan ddng xe va din ddng cdng true, mdt ddng ca dien mdt chiiu dugc sir dung de quay tdi vdi muc dich thay ddi chieu dai cap nang Sd dT md hinh thi nghiem su dung ddng thdi ca ddng ca dien xoay chieu khdng ddng bg ba pha va dgng co dien mpt chiiu thyc hien viec din ddng cac ccr cau cua cdng true container thyc nghifem de cd the ket hgp dong thdi hai phuang phap dieu khien tdc ddng ca la dieu khien bang bien tan ddi vdi ddng co dien xoay chieu khdng ddng bp ba pha va dieu khien tdc dp ddng ca dien mot ehieu bing PWM Ngoai ra, nhu da de cap tbi viec sir dung ddng ca dien xoay chieu khong ddng bd ba pha nd cd uu diem ta gan vdi thi;c te ban vi thyc te viec dan ddng cac co cau cua cdng true hoan toan sii dung ddng co dien xoay chieu khdng ddng bd ba pha Dudi cac yeu cau dieu khien, bd dieu khien da dupe thiet ke se dua cac tin hieu de dieu khien hai dpng ISSN 0866 - 7056 TAP CHi CO KHi VIET NAM, Sd 1+2 nam 2019 www.cokhivietnam.vn NGHIEN c u u - T R A O 001 ca xoay chieu ba pha dimg de dan ddng xe va dan ddng cdng true va mgt ddng co dien mdt chieu de nang hang tien tdi gia tri yeu ciu ddng thdi giii cho gdc lac hang nhd qua trinh lam viec cua cdng true Cac tin hieu se dugc bdi cac encorders va dugc phan hdi vd bd dieu khien dudi dang cac chuyen vi Cac tin hieu van tdc se dugc xu ly thdng qua viec dao ham sd va bg Igc tan sd thap De kich ddng la mdt robot bac ty dugc dimg de tao kich dgng nhu kich ddng sdng tac ddng len than tau tau lam viec ngoai bien Vdi yeu cau la cac cap sdng khac dudi tac ddng cua he thdng dieu khien mach bd, de kich ddng se dich chuyen va tao kich ddng ling vdi timg cap sdng dua vao bd dieu khien Cac dii lieu ve cap sdng la dii lieu ngau nhien de dam bao tinh tuong ddng giiia md hinh thuc nghiem phdng thi nghiem va md hinh thyc te He thdng ludng bao gdm encoders quang, dp phan giai 200 xung/vdng, ket hop vdi bg giai ma sudn xung (QEP) cua vi dieu khidn, phan giai cd the len tdi 800 xung/ vdng Trong dd, encoder dugc sir dyng de dich chuyin cua xe theo cac phuang X va Y, encoder dugc sir dung de dao ddng gdc cua cap nang theo cac phuang, va encoder dugc sir dung dl sd vdng quay ciia tdi quay Cac gia tri dao ham cua cac dai lugng dugc tinh thdng qua phep sai phan sd Mach ddng lyc cd vai trd dieu khien truyen ddng cho cac ddng co dua tren tin hieu tir bd dilu khien trung tam Hai bien tan Mitsubishi FREQROL-S500, nhu tbd bien Hinh 5, dupe sir dung de dieu khien truyen dgng dien hai ddng ca xoay chieu ba pha Day la ddng san pham bien tan nhd gpn, thiet ke phu hgp cho nhiing iing dung nhd, tai nhe thyc te Trong dd, ddng ca mdt chieu dugc dieu khien bang mach cau H MB02A cua bang HBQ Technology thdng qua phuong phap dieu che rdng xung (PWM) Xu ly un h i ^ (d»o ham s^, bf l«c tin s& th&p) 1 i Pon ngn\gn ' Bien lan il^ dicu ktHi ii d^ng [ thieu [*a - M^-h cSu H 1- Kil VI dieu khicn cua hing NI (MyRlO190(l|oQmmach (card)giaoUep va '' ">PhiBi - MATLAfl.SimtiliokAjbvH PcnaeuTtn aija khltn «i Mth dtiii! i) nia canff Kn Ma«er Ai l»w Arduino I May llnh 12) nia mim *• Phin mioi m9 nguin Hinh Sa khoi he thdng thuc nghiem ISSN 0866 - 7056 TAPCHiCOKHiVl£TNAM,Sd l+2nam2ai9 www.cokhivietnam.vn NGHIEN CCfU - TRAO OOl trinh se thuc hien tinh toan theo giai thuat dilu khidn d l dua tin hieu dieu khien CAC KET QUA THU'C NGHIEM Trong phin nay, cac ket qua thirc nghiem vdi bd dilu khiin sd sii dyng phuang phap dilu khiln ttirgt dugc dua nham danh gia chit lugng dap ung cua he thdng dieu khien 4.1 Nhilu dong cua song va gio Hinh Bien tdn Mitsubishi FREQROL-S500 % Hinh Kit vi diiu khien MyRIO-1900 Bd dieu khien sd tnmg tam dugc cai dat tren kit vi dilu khiin nhiing MyRIO-1900 eiia hang National Instrument, dugc lap trinh, dieu khien giam sat thdng qua giao dien ngudi diing tren phan mem Labview Cac lyc va md-men nhieu ddng song biln dupe tao tir dich chuyen cua de kich ddng sdng, bao gdm gdc quay pitch va roll va dich chuyin heave [8] dugc thd hien lin lugl nhu Hinh den Hinh Trong dd, lyc gid dugc gia lap vdi gid sinh tir quat dien phdng thi nghiem, tdc dp gid thay ddi tuan hoan theo thdi gian bing viec sii dung cbiic nang thay ddi tdc gid RHYTHM Giao dien ngudi diing nhu tren hinh , duoc thiet ke tren phan mem Labview, bao gdm mdt sd chuc nang co ban nhu dat gia tri mong mudn, giam sat qua trinh dgng hgc thdng qua cac dd thi, luu trii dir heu dudi dang file Excel va ngimg boat ddng cd su cd Hinh Goc ldc roll cua de kich dong Chuang trinh dieu khien dugc viet eho vi dieu khien nhiing MyRIO-1900 su dung phan mem Labview Mdi trudng lap trinh thuat toan dieu khien dugc the hien nhu hinh Ngdn ngii lap trinh cd the ket hop cau lenh vdi cac khdi tinh toan, tuong hi nhu tren mdi trudng MATLAB/Simulink Thdi gian lay miu la 10 ms dupe thiet lap bang timer vi dilu khien, cii sau khoang thdi gian nay, chuang Hinh Goc ldc pitch cua di kich dong ISSN 0866 - 7056 TAP CHI CO KHi VIET NAM, Sd I +2 nam 2019 www.cokhivietnam.vn NGHIEN CLfU - TRAO D O I Hinh 12 Chieu ddi cua cdp ndng Hinh Dich chuyin heave cua di kich dpng 4.2 KH qua thuc nghidm vol bo dieu khiln trirgl: bac hai Cac dap ung cua qua trinh dich chuyen va nang tai cua he thdng dugc the hien tucmg img cac Hinh 10 den Hinh 12 Cu the, gian dugc yeu cau di chuyen tir vi tri ban dau tdi vi tri dat -0.4 m, sau dd tdi vi tri 0.2 m, xe tir vi tri ban dau di chuyen tdi vi tri 0.2 m, trude tdi vi tri -0.2 m, chieu dai cap nang tir 0.4 m duge yeu cau tgi vi tri 0.8 m trude quay trd lai 0.6 m, cac dich chuyen dugc boat dgng ddng thdi de kiem nghiem tinh ben viing cua bg dieu khien Cac gia tri cua gdc lac va gdc lac (p dugc md ta nhu Hinh 13 va Hinh 14 Nhu cd thi thiy, gdc lac tdi da khdng qua dp va gdc lac (p tdi da khdng qua 5.8 dp Hinh 13 Goc ldc IM^A Hinh 14 Gdc ldc ip Nhu vay, chat lugng bd dieu khien sd da dupe kiem nghiem mdi trudng gia lap cd tac ddng cua sdng va gid Tuy rang anh hudng cua cac nhieu ddng ngoai khdng bi triet tieu hoan toan, nhung ta thay cdng true van dam bao dugc yeu cau ca ban la dua hang hda tdi vi tri mong mudn vdi dao ddng nhd KET LUAN Hinh 10 Dich chuyen ctia gidn Hinh 11 Dich chuyen ciia xe Bai bao da trinh bay md hinh thuc nghiem ciia cdng true dat tren nin dao ddng phdng thi nghiem, dd he cdng true 3D chiu anh hudng ciia kich ddng sdng va gid bien nhan tao Bd dieu khien sd sir dung thuat toan dieu khien trugt dugc cai dat tren vi dilu khien dl dn dinh he thdng Cac kit qua thyc nghiem da cho thiy hieu nang cua thuat toan dieu khien ciing nhu kha nang ap dung nguyen^ ISSN 0866 - 7056 TAP CHi CO KHi V I £ T NAM, Sd 1+2 nam www.cokhivietnam.vn 2019 NGHIEN cuu-TRAO D I miu phdng tbi nghiem cho muc dich nghien ciru, iing dung cac ly thuyet dieu khien vao thuc tien • Ngay nhan bail 19/11/2018 Ngay phan bien: 08/01/2019 Tai lieu tham khao: [1] K S Hong and Q H Ngo, ''Dynamics of the container crane on a mobile harbor" Ocean Eng., vol 53, pp 16-24,2012 [2] Q H Ngo and K S Hong, "Sliding-mode antisway control of an offshore container crane," lEEE/ASME Trans Mechatronics, vol 17,no 2,pp 201-209,2012 [3] L A Tuan, S G Lee, L C Nho, and H M Cuong, "Robust controls for ship-mounted container cranes with viscoelastic foundation and flexible hoisting cable," Proc Inst Mech Eng Part I J Syst Control Eng., vol 229, no 7, pp 662-674,2015 [4] R Van Trieu, D D Luu, H M Cuong, and L A Tuan, '^Neural network integrated sliding mode control of floating container cranes," Proceeding 11th Asian Control Conf, pp 847-852,2017 [5] L V Anh, L X Hai, V D Thuan, P Van Trieu, L A Tuan, and H M Cuong, "Designing an Adaptive Controller for SD Overhead Cranes using Hierarchical Sliding Mode and Neural Network," IEEE Int Conf Syst Sci Eng., 2018 [6] L A Tuan, H M Cuong, P Van Trieu, L C Nho, V D Thuan, and L V, Anh, "'Adaptive neural network sliding mode control of shipboard container cranes considering actuator backlash," Mech Syst Signal Process., vol 112, pp 233-250, Nov 2018 [7] B Dasgupta and T S Mmthyunjaya, "ClosedForm Dynamic Equations of the General Stewart Platform through the Newton-Euler Approach," Mech Mach Theory, vol 33, no 7,pp 993-1012,1998 [8] T I Fossen, "A nonlinear unified state-space model for ship maneuvering and control in a seaway," Int J Bifurc Chaos, vol 15, no 9, pp.2717-2746,2005 [9] M Rubagotti, A Estrada, F Castafios, A Ferrara, S Member, and L Fridman, "Integral Sliding Mode Control for Nonlinear Systems With Matched and Unmatched Perturbations " IEEE Trans Automat Contr., vol 56, no 11, pp 2699-2704, 2011 ISSN 0866 - 7056 TAP CHi CO KHi VIET NAM, Sd 1+2 nam 2019 www.cokhivietnam.vn