proceedings of the 16th asia pacific vibration conference
TRANSCRIPT
Proceedings of the 16th
ASIA PACIFIC VIBRATION CONFERENCE
Edited by:
Yoshihiro Narita, Nguyen Van Khang, and Nguyen Quang Hoang
Organized by:
Vietnam Association of Mechanics (VAM)
Hanoi University of Science and Technology (HUST)
Bachkhoa Publishing House, Hanoi 2015
Proceedings of the 16th
ASIA PACIFIC VIBRATION CONFERENCE 24-26 November, 2015
Hanoi, Vietnam
Edited by:
Prof. Yoshihiro Narita (Hokkaido University, Japan)
Prof. Nguyen Van Khang (Hanoi University of Science and Technology, Vietnam)
Dr. Nguyen Quang Hoang (Hanoi University of Science and Technology, Vietnam)
Organized by:
Vietnam Association of Mechanics (VAM)
Hanoi University of Science and Technology (HUST)
Bachkhoa Publishing House, Hanoi 2015
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APVC2015 16th Asia Pacific Vibration Conference
24-26 November, 2015
HUST, Hanoi, Vietnam
International Organizing Committee
Chairman
Yoshihiro Narita (Hokkaido University, Japan)
Members
Shigehiko Kaneko (University of Tokyo, Japan)
Andy C.C. Tan (Queensland University of Technology, Australia)
Nong Zhang (University of Technology, Sydney, Australia)
Athol J. Carr (University of Canterbury, New Zealand)
Hong Hee Yoo (Hanyang University, Korea)
Youngjin Park (KAIST, Korea)
M. Salman Leong (University of Technology, Malaysia)
R. Abdul Rahman (University of Technology, Malaysia)
Li Cheng (Hong Kong Polytechnic University, Hong Kong)
Takuya Yoshimura (Tokyo Metropolitan University, Japan)
Yi Min Zhang (Northeastern University, China)
Zhi Chao Hou (Tsinghua University, China)
Nguyen Van Khang (Hanoi University of Science and Technology, Vietnam)
Honorable Advisory Board
Dr. Nguyen Quan (Minister, Ministry of Science and Technology)
Prof. Duong Ngoc Hai (Vice-President, Vietnam Academy of Science and Technology)
Dr. Tran Viet Hung (Vice-President, Vietnam Union of Science and Technology Association)
Prof. Nguyen Hoa Thinh (President, Vietnam Association of Mechanics)
Local Programming Committee
Chairman
Nguyen Van Khang (HUST, Hanoi)
Members
Nguyen Dong Anh (IMECH, Hanoi),
Dao Huy Bich (VNU, Hanoi)
Nguyen Phong Dien (HUST, Hanoi)
Nguyen Dinh Duc (VNU, Hanoi)
Nguyen Dung (IAMI, Hochiminh City)
Hoang Ha (Ministry of Transport, Hanoi)
Pham Duy Hoa (University of Civil Engineering, Hanoi)
Nguyen Tien Khiem (IMECH, Hanoi)
Vu Van Khiem (MOST, Hochiminh City)
Ngo Kieu Nhi (HCMUT, Hochiminh City)
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Dinh Van Phong (HUST, Hanoi)
Do Kien Quoc (HCMUT, Hochiminh City)
Nguyen Chi Sang (NARIME, Hanoi)
Do Sanh (HUST, Hanoi)
Le Luong Tai (Thai Nguyen University, Thainguyen)
Tran Ich Thinh (HUST, Hanoi)
Local Organizing Committee
Co-Chairs
Nguyen Phong Dien, Dinh Van Phong (HUST)
Members
Pham Thanh Chung (HUST, Hanoi)
Hoang Manh Cuong (Maritime University, Haiphong)
Nguyen Van Du (Thai Nguyen University, Thainguyen)
Le Thai Hoa (VNU, Hanoi)
Trieu Quoc Loc (National Ins. Labour Protection, Hanoi)
Phan Dang Phong (NARIME, Hanoi)
Nguyen Trong Phuoc (HCMUT, Hochiminh City)
Nguyen Minh Phuong (HUST, Hanoi)
Nguyen Van Quyen (HUST, Hanoi)
Tran Dinh Son (University Mining and Geology, Hanoi)
Nguyen Xuan Thanh (University of Civil Engineering, Hanoi)
Nguyen Xuan Toan (DUT, Danang)
La Duc Viet (IMECH, Hanoi)
Conference location
Hanoi University of Science and Technology
1 Dai Co Viet Road, Hanoi, Vietnam
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CONTENTS
Section A. Vibration of Continuous Systems and Structural Dynamics
Sound Projection and Capture 1
Semyung Wang, Kihyun Kim and Homin Ryu
Study on power generation with in-flow fluidelastic instability 6
Tomomichi Nakamura, Takuya Sumitani and Joji Yamada
Overall Stiffness Identification of Short – Span Bridges Based on Change in Representative
Power Spectral Density 13
Kieu Nhi – NGO, QuangThanh – NGUYEN, BaoToan – PHAM, Da Thao – NGUYEN
Proposing a New Feature of Short – Span Bridges under Real Traffic for Damage Dectection 21
KieuNhi-Ngo, BaoToan-Pham, QuangThanh-Nguyen
Study the effects of applied tension and position of “cap magnets” on self-oscillating frequency of a taut
membrane under aerodynamic load 28
VU Dinh Quy
Dynamic Behavior of Cantilever Beam with Slightly Gapped Support under Random Excitation 32
Shozo Kawamura, Kyosuke Imamura, Masami Matsubara
Linear density identification of beams with free-free boundary condition 37
Masami Matsubara, Akihiro Aono, Shozo Kawamura
A Wavelet-decomposed Semi-analytical Model for Flexural Vibration of a Beam with Acoustic
Black Hole Effect 42
Liling TANG, Su ZHANG, Hongli JI, Jinhao QIU and Li CHENG
Vibration analysis of a rotating blade composed of functionally graded materials 50
Yutaek Oh, Hong Hee Yoo
Evaluation of damping properties of damping beam with natural rubber/cellulose composites 54
Masami Matsubara, Shozo Kawamura, Asahiro Nagatani, Nobutaka Tsujiuchi, Akihito Ito
Finite element analysis of APR1400 nuclear reactor 59
Jong-beom Park, No-Cheol Park, Sang Jeong Lee, Woo-Jin Roh
Vibration and stability analysis of functionally graded carbon nanotube-reinforced composite beams
immersed in axial pulsating fluid 63
Hossein Hemmati, Hassan Nahvi
Benchmark Test Function for Assessing the Lay-up Optimization Methods in Plate Vibration 69
Toshiya Hayashi, Shinya Honda, Yoshihiro Narita
Free Vibration Analysis of Cantilevered Symmetrically laminated Plates with Attached Mass 77
Kenji Hosokawa, Tatsuro Ohashi
An experimental study on anechoic vibrations of a beam with wedge-shape and damping treatment 81
Soon-woo Seo, Kwang-joon Kim
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Vibration optimization of composite sandwich plate with soft core by using refined zigzag theory 87
Shinya Honda, Takahito Kumagai, Yoshihiro Narita
Smoothed particle hydrodynamics simulation of aquatic propulsion mechanism by using vibrating
elastic plate 93
Masashi Sasuga, Hirosuke Horii, Nobuyuki Furuya, Yuichi Matsumura, Kohei Furuya
Vibration Analysis of a Floating Platform for an Offshore Wind Turbine 99
Joong Hyeok Lee, Jin Ho Ahn, Jun Ho Byun, Byeonghee Kim, and Seockhyun Kim
Study on Seismic Evaluation System of Elevator Rope 103
Yuta Shimura,Satoshi Fujita, Keisuke Minagawa
Development of Escalator Vibration Analytical Model during Earthquake 108
Koji NARIYA, Yudai TANAKA, Satoshi FUJITA, and Osamu TAKAHASHI
Dynamic Analysis for Vertical Movement of Elevator Governor Tension Sheave 113
Kotaro Fukui, Seiji Watanabe, Masaki Kato, Takeshi Niikawa
Estimation of main cable tension of the suspension bridge 119
Nguyen Huu Hung
Transfer-matrix-based approach for an eigenvalue problem of a drum-like rectangular cavity 126
Hiroyuki Iwamoto, Nobuo Tanaka
Transverse Motion of the Plate Spring that Automatically Follows the Excitation Frequency 131
Takuya Kishida, Kazumasa Ohama, Takumi Inoue, Ren Kadowaki, Kazuhisa Ohmura
FEM Analysis Considering Air Viscosity in Narrow Rectangular-Closs Section Pathway 137
Manabu Sasajima, Takao Yamaguchi, Mitsuharu Watanabe, Yoshio Koike
Sloshing Phenomenon Analysis by Using Concentrated Mass Model 142
Tatsuhiro Yoshitake, Satoshi Ishikawa, Takahiro Kondou, Kenichiro Matsuzaki
Study on Reliability Enhancement of Seismic Risk Assessment of NPP as Risk Management Fundamentals
(Evaluation of Seismic Response for Quantifying Epistemic Uncertainty on Fragility Assessment
of Equipment and Piping) 149
Osamu FURUYA, Sho ASAOKA, Ken MURAMATSU, Shigeru FUJIMOTO, Hitoshi MUTA
A Novel Analytical Method to Assess Transient Coupled Vibration of a Tall Building Against Downburst
Windstorms 154
Thai-Hoa Le, Luca Caracoglia
Exploring the Simulation of the Stochastic Response of a Tall Building in a Tornado-like Wind 162
Thai-Hoa Le, Luca Caracoglia
Application of Wavelet Transform to Damage Detection in Plates using Response-only Measurements 170
Muyideen Abdulkareem, Norhisham Bakhary, Mohammadreza Vafaei
Study on Seismic Enhancement Method of Hanging Type Mechanical Structure in Industrial Facilities 177
Osamu FURUYA, Kazuhiro YOSHIDA, Keiji OGATA and Nobuhiro NIIYAMA
Study, design and fabrication of “micro-electrical-generator” based on the principle of flutter phenomenon 183
NGUYEN Van Sy, VU Dinh Quy, DINH Tan Hung
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Finite element vibration analysis of viscoelastic composite structures 191
Zhicheng Huang, Zhaoye Qin and Fulei Chu
Determination of Dynamic Impact Factor for Continuous bridge and Cable-stayed bridge due to vehicle
braking force with experimental investigation 196
Toan Xuan NGUYEN, Duc Van TRAN
Response Analysis of Multiple Supported Elastic-Plastic Piping Systems for Estimating Its Maximum Response 204
Tomoyuki Matsuda, Nanako Miura, Akira Sone, Thuan Nguyen Xuan
Buckling Analysis of Laminated Shallow Shells under General Form Pressure and Boundary Condition 212
Tatsuya Tampo, Shinya Honda, Yoshihiro Narita
Study of Rolled Multi-Layer Cylindrical Shell in Frequency Domain 218
Can Nerse, Semyung Wang
Reduction of wave propagation from a curved beam to straight beams 222
Yuichi MATSUMURA, Kohei FURUYA, Tuyen NGUYEN BA, Hirotaka SHIOZAKI
Broadband Piezoelectric Energy Harvester Using a Mass Attached Near the Fixed-end 228
Sin Woo JEONG, Hong Hee YOO
Application of gas-spring damper to furniture fixture devices, a suggestion to prevent human damages
in huge earthquakes 232
Yukiko ISHIHARA, Satoshi FUJITA, Keisuke MINAGAWA
Structural Optimization of SEA Subsystems using Finite Element Model 237
Katsuhiko KURODA
Dynamic response of beam on a new foundation model subjected to a moving oscillator by finite
element method 244
PHAM Dinh Trung, HOANG Phuong Hoa and NGUYEN Trong Phuoc
Nonlinear dynamic analysis of imperfect eccentrically stiffened S-FGM thick circular cylindrical shells
on elastic foundations and subjected to mechanical loads 251
Nguyen Dinh Duc, Tran Quoc Quan
Vehicle-Cable stayed bridge Dynamic Interaction considering the vehicle braking effects using the Finite
Element Method 260
Toan Xuan Nguyen, Duc Van Tran
Nonlinear Vibration of eccentrically Stiffened Functionally Graded Toroidal Shell Segments Surrounded
by an Elastic Medium 268
Dao Huy Bich, Dinh Gia Ninh, Bui Huy Kien
Application the frequency response function to evaluate the tuned liquid damper system at the tower of
Baichay cable stayed Bridge in Viet Nam 278
Nguyen Duc Thi Thu Dinh, Nguyen Viet Trung and Nguyen Huu Hung
Axisymmetric Free vibration of Layered Conical Shells using Chebyshev Polynomial with
Collocation Method 286
K.K.Viswanathan, Z.A. Aziz, J.H. Lee, M.D. Nurul Izyan
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Section B. Vibration of Discrete Systems and Machine Dynamics
Development and Investigation of an Energy-Regenerative MR Damper 295
Satoru Akao, Tomoki Sakurai, Shin Morishita
Analytical Research on Dynamic Characteristics of Rolling Agricultural Tire
(Investigation of Lug Excitation Force Characteristics) 300
Katsuhide Fujita, Takashi Saito, Mitsugu Kaneko
Evaluation of dynamic characteristics of the rubber element with and without constraint 307
Shozo Kawamura, Ryosuke Isoda, Masami Matsubara
Proposition of a judgment method of proper paths in the transfer path analysis 312
Shozo Kawamura, Kota Itadani, Masami Matsubara
Hunting Behavior of the High Speed Railway Vehicle on a Curved Track 318
Yuto Yoshida, Yuki Kunimatsu, Shoichiro Takehara, Yoshiaki Terumichi
Vibration suppression of the large eccentric rotor by using externally pressurized gas journal bearings
with asymmetrically arranged gas supply holes 324
Tomohiko Ise, Takaaki Itoga, Kazuya Imanishi, Toshihiko Asami
Development of an Assistance System for a Two Wheeled Vehicle Using a Vibrator 329
Thai Quoc PHAM, Chihiro NAKAGAWA, Atsuhiko SHINTANI, and Tomohiro ITO
On the computation of the vibration of foil-air bearing – rotor systems 336
Minh-Hai PHAM, Xuan-Ha NGUYEN and Bao-Lam DANG
Rocking Vibration of Rigid Block under Simulated Seismic Wave 342
ManYong Jeong, Keita Aoshima
Influence on Rocking Vibration Characteristics by Minute Change of System Parameters 352
ManYong JEONG, Yuto Suzuki
Visualization of Strain Distribution in Gear Teeth under Operation by Photo-Elasticity Technique 361
Daisuke Yamazaki,Yusuke Hasebe,Toshihiko Shiraishi,Shin Morishita
Dynamics and Control of Clutchless AMTs 368
Paul D WALKER, Yuhong Fang, Holger Roser, Nong Zhang
On an approximate technique for Fokker-Planck-Kolmogorov equation in the theory of random vibration 374
D.N. Hao, N.D. Anh, N.C. Thang
Effect of radial contact area of brake pad on in-plane squeal of automotive disk brake 380
Yutaka Nakano, Hiroki Takahara, Noriyuki Shirasuna
Pedestal design for resonance separation 386
Hyeon-Tak Yu, Jong-Myeong Lee, Gyu-Jin Park , Hack-Eun Kim and Byeong-Keun Choi
Research on natural vibration characteristics for change of a sliding part in a reciprocating compressor 391
Yoshifumi MORI, Takenori NAKAMURA, Katsuhide FUJITA and Takashi SAITO
Analysis of coupling vibration between tire flexible ring and rigid wheel model 395
Masami MATSUBARA, Makoto HORIUCHI, Shozo KAWAMURA, Fumihiko KOSAKA
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Small and simple isolation table using coil springs 400
Taichi Matsuoka, Tomonori Niwa, Tenma Takayanagi, Kenichiro Ohmata
Study on wear behavior analysis of tire using the distributed lumped mass-spring model 406
Yu Koketsu, Shoichiro Takehara, Yoshiaki Terumichi, Zenichiro Shida, Toshiyuki Ikeda
Geometric illustration of several stochastic equivalent linearization criteria 413
Anh NGUYEN DONG, Linh NGUYEN NGOC
Basic Research on a Novel Zero-Emission Public Transportation System (Investigation of Consumption
Energy using a Simple Electric Bus Simulator for an Electric Bus System with Rapid Charging at Every
Bus Stop using Renewable Energy) 419
Takeshi Kawashima
Dynamic model of rocking vibration for free standing spent fuel rack 427
Akihiro TAKAI and Shigehiko KANEKO
An analytic study on the Structural Safety of Two-spindle System 435
Min Jae Shin, Dong Il Kim, Jae Deok Hwang, Chae Sil Kim, and Hun Oh Choi
Inverse Sub-structuring Theory for Coupled Mechanical System with Incomplete Measured Data based
on the Dummy Masses 440
Qi-li Wang, Jun Wang, Li-xin Lu, An-jun Chen, Huan-xin Jiang
Dynamic modeling and investigation on the electromagnetic vibration of an eccentric rotor with
bearing forces 448
Xueping Xu, Qinkai Han, and Fulei Chu
Rub-impact Analysis of a Disk-drum Rotor System 456
Lumiao Chen, Zhaoye Qin, and Fulei Chu
Simulation and Analyses of Dynamic Gust Responses of a Flexible Aircraft Wing under Continuous Random
Atmospheric Turbulence 461
Anh Tuan Nguyen, Jae-Hung Han
Analytical model building and vibration reduction of drum-type washing machines at high rotational speeds 468
Nobutaka TSUJIUCHI, Akihito ITO, Mami YOSHIDOMI, Hiroki SATO
Fundamental study of subharmonic vibration in automatic transmission 475
Akihiro NANBA, Takashi NAKAE, Takahiro RYU, Kenichiro MATSUZAKI, Sofian ROSBI,
Yoshihiro TAKIKAWA, Yoichi OOI, Atsuo SUEOKA
A fractal friction contact model and its application in forced response analysis of a shrouded blade 483
Hengbin Qiu, Zili Xu, Chunmei Zhang
A Study for LNG Pump Shaft Balancing by the Rig 491
Yong Ho Jang, Hyo Jung Kim, Jong Myeong Lee, Sun Hwi Park, Hack Eun Kim, and Byeong Keun Choi
Research and Development of Laminated Bearing for Base-Isolation System using Urethane Elastomer 494
Kenta Ishihana, Osamu Furuya, Kengo Goda, Shohei Omata
Effects of the Non-linear Restoring Force Characteristics of the Rubber Bearings on Seismic Isolated Building 500
Yuki HASE, Satoshi FUJITA, Keisuke MINAGAWA
Analysis of Pulse Wave in Blood Vessel by Concentrated Mass Model 506
Satoshi Ishikawa, Takahiro Kondou, Kenichiro Matsuzaki
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Dynamic Stability Derivative Measurement of the MAV Model Using Magnetic Suspension Balance System 512
Chang-Beom Kwon, Dong-Kyu Lee, Jae-San Yoon and Jae-Hung Han
Multi-physical analysis of an eddy current damper (ECD) for a reaction force compensation (RFC)
mechanism of a linear motor motion stage 516
Kang Jo Hwang, Canh Nguyen, Jae Seong Jeong, Hyeong Joon Ahn
Detection of blade rub in rotor system 521
W. K. Ngui, M. Salman Leong, M. H. Lim, and K. H. Hui
A Hybrid Method of Support Vector Machine and Dempster-Shafer Theory for Automated Bearing
Fault Diagnosis 525
K.H.HUI, L.M.HEE, M. Salman LEONG, M.K. ZAKARIA, and W.K. NGUI
A Method for Solving the Motion Equations of Constrained Systems 532
Sanh Do, Phong Dinh Van, Khoa Do Dang, Tran Duc
Reliability Analysis of Motorized Spindle based on ANSYS and BP Neural Networks 538
Zhou Yang, Panxue Liu, Hao Wang, Yimin Zhang and Xianzhen Huang
Torsional rigidity analysis of cycloid reducers considering tolerances 546
TheLinh TRAN, AnhDuc PHAM, ChungIl CHO and HyeongJoon AHN
A study on applying a Dynamic model to determine the Body roll center of Heavy Trucks 552
Khanh Duong Ngoc, Huong Vo Van and Hung Ta Tuan
Structural and Vibration Analysis Considering the Flow Velocity of the Heat Exchanger 555
Yong-Seok Kim, Byung-hyun Ahn, Jung-Min Ha, Seok-Man Son and Byeong-Keun Choi
The Forced Response of a Time-Delayed Nonlinear System under Two Families of Additive Resonances 560
J.C. Ji, Terry Brown
Experimental Investigation of a Roll-plane Hydraulically Interconnected Suspension and Anti-roll Bars
in Warp Mode 566
Nong ZHANG, Sangzhi ZHU and Jack Liang
Dynamic Theory and Experiments of a New Near-Resonant Vibrating Screen with Inertial Exciter 571
Wen Bangchun, Liu Shuying, Wang Zongyan, Zhang Xueliang
The Receptance Incremental Harmonic Balance Method for Analyzing Rubbing Rotor System 576
YAO Hongliang, LIU Ziliang and WEN Bangchun
The Method of High Order Fatigue Test of Thin Plate Composite Structure with Hard Coating 582
Hui Li, He Li, Zhaohui Ren, Bangchun Wen
Dynamic Analysis of the Feed Drive System for a Lathe 588
ZHAO Chunyu, CHEN Ye, FAN Chao and WEN Bangchun
Analysis on the Material Movement of Solid Wastes Processing Screen 593
Jing JIANG, Yan WU, Shuying LIU and Bangchun WEN
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Section C. Control and Optimization of Dynamic Systems
Design of resonance frequency of smart Helmholtz resonator using neural network 601
Wakae Kozukue, Hideyuki Miyaji
Efficiency Examination of Automatic Digging for Excavators on Several Conditions 606
Tatsuya Yoshida, Nobutaka Tsujiuchi, Akihito Ito, Fumiyasu Kuratani, Hiroaki Andou
Optimal Design of Dynamic Absorber for Subharmonic Nonlinear Vibration in Automatic Transmission
Powertrain 614
Takashi Nakae, Takahiro Ryu, Kenichiro Matsuzaki, Sofian Rosbi, Atsuo Sueoka, Yoshihiro Takikawa,
Yoichi Ooi
An improved pendulum dynamic vibration absorber with radial vibration mode excited by centrifugal force 623
La Duc Viet, Nguyen Ba Nghi
Admittance Control System without Force Sensor for Master-slave Rehabilitation 628
Masashi Yamashita
Advanced sliding mode control of floating container cranes 633
Pham Van Trieu, Hoang Manh Cuong, Le Anh Tuan
Parameter Optimization of Tuned Mass Damper Systems to Human Body Vibration Control
for Standing and Sitting Postures 643
Nguyen Anh Tuan, Nguyen Van Khang and Trieu Quoc Loc
Increase of critical flutter wind speed of long-span bridges using passive separate control wings 649
Nguyen Van Khang, Tran Ngoc An
Robust design of a composite antenna structure by using multi-objective Taguchi method 655
Soichiro Tanaka, Shinya Honda, Yoshihiro Narita
Operating mechanism and optimization of dynamic absorber for a negative damping system 662
Tomoyuki TANIGUCHI and Takahiro KONDOU
Trajectory Planning Method for Anti-Sway Control of a Rotary Crane 668
Akira Abe, Keisuke Okabe
Vibration Control of Overhead Traveling Crane by Elimination Method of Natural Frequency Components
(Complete Prevention of Residual Vibration of Cargo) 673
Toru MIZOTA, Takahiro KONDOU, Kenichiro MATSUZAKI, Nobuyuki SOWA, Hiroki MORI
Vibration Mitigation of Thermal Power Plants due to Earthquake by Installing Viscous-Friction
Hybrid Dampers 679
Ryo Kato, Satoshi Fujita, Keisuke Minagawa, Go Tanaka
Fundamental Study on Health Monitoring System for Pipe using Acceleration of its Surface 686
Kimihiko Inami, Satoshi Fujita, Keisuke Minagawa,Mutsuhito Sudo
Suppression of Low Frequency Vibration of a Vibroimpact System by a Dynamic Absorber 690
Hiroki Mori, Takuo Nagamine, Takanori Kobayashi, Yuichi Sato
Active wave control of a coupled rectangular cavity 694
Motoya Watanabe, Hiroyuki Iwamoto, Nobuo Tanaka
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Semi-active control of RFC (reaction force compensation) mechanism for a linear motor motion stage 702
Duc-Canh NGUYEN, Kang-Jo HWANG, Hyeong-Joon AHN
Design method of PID controllers for active mass damper systems
incorporating neural oscillators 708
Junichi HONGU, Daisuke IBA, Takayuki SASAKI, Morimasa NAKAMURA, and Ichiro MORIWAKI
Evaluation of the current Health Monitoring Systems for Cable-stayed Bridge in Vietnam 714
DAO Duy Lam, NGUYEN Viet Trung
Adaptive Vibration Control Based on Pole Tuning of Model-based Controller 718
Keiichiro FURUYA, Shinichi ISHIZUKA, Itsuro KAJIWARA
Development of Wire Driven Active Vibration Suppression for Gantry Crane with Mechanical Control 725
Yasuo AOKI, Takashi AOKI, and Yasutaka TAGAWA
Bilateral Tele-robot of Multiple Cooperative Robots control based on PD method and virtual damping
with time delay 730
Thuan Nguyen, Tomoyuki MATSUDA, Hung Chi Nguyen, Nam Duc Do, Akira SONE, Nanako MIURA
A Fuzzy Logic System Built based on Fuzzy Data Clustering and Differential Evolution for Fault Diagnosis 738
Sy Dzung Nguyen, Quang Thinh Tran, Kieu Nhi Ngo, Tae Il Seo
An Adaptive Dynamic Inversion Controller for Active Railway Suspension Systems 746
Sy Dzung Nguyen, Kieu Nhi Ngo, Nang Toan Truong, Vien Quoc Nguyen, Tae Il Seo
Acceleration control of an electric skateboard considering postural sway 754
Motomichi Sonobe, Hirotaka Yamaguchi, and Junichi Hino
Vibration analysis and stacking sequence optimization of laminated rectangular plate with blended layers 760
Fumiya NISHIOKA , Shinya HONDA , Yoshihiro NARITA
Control of cable vibration using friction damper with consideration of bending stiffness 767
Duy-Thao NGUYEN, Xuan-Toan NGUYEN
Controller Design Strategy to Improve Broad Band Tracking Performance for Shaking Tables 774
Mineki Okamoto, Yasutaka Tagawa
Control Simulation of an Electrically-Controlled Variable Valve Timing (ECVVT) System with
Cycloid Reducer 780
ChungIl Cho, JaeSeong Jeong and HyeongJoon Ahn
Motion Investigation of Planar Manipulators with a Flexible Arm 784
Sanh Do, Phong Phan Dang, Khoa Do Dang, Binh Vu Duc
Influence of models on computed torque of delta spatial parallel robot 791
Nguyen Quang Hoang, Nguyen Van Khang, Nguyen Dinh Dung
Input Shaping and PD Controller for Double-Pendulum Overhead Cranes 799
Nguyen Quang Hoang, Nguyen Van Quyen and Dinh Van Phong
Semi-active Suspension Control of a Semi-trailer Truck using Magnetorheological Fluid Damper 806
Sardar Muhammad IMRAN and Zhichao HOU
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Section D. Vibration and Noise
Global active noise control using a parametric beam focusing source 817
Nobuo Tanaka and Motoki Tanaka
Sensing of Nanotoxic Material using Resonance Frequency 823
Kuehwan Jang, Junseok You, Chanho Park, Jinsung Park, Sungsoo Na
Standardization of scaled HRIRs based on multiway array analysis 826
Daehyuk Son, Youngjin Park
Experimental Study on Vibration and Noise of Wet Friction Clutches 831
Junya Kamei, Toshihiko Shiraishi
Prediction of dynamic behavior of workpieces in ultrasonic plastic welding 837
Takao Hirai, Fumiyasu Kuratani, Tatsuya Yoshida, Saiji Washio
Broadband Energy Focalization Using a Tailored Power-law-profiled Indentation with Lens-like Function 844
Wei Huang, Hongli Ji, Li Cheng, Jinhao Qiu
Experimental study on vibration and noise phenomenon generated from small fan motors 850
Koki Shiohata, Masaki Ogushi
Study on Noise Reduction Method of Acoustic Emission Signal for Rotorcraft Gearboxes Condition
Monitoring and Diagnosis 855
ByungHyun Ahn, HyoJung Kim, Sun Hwi Park, YongSeok Kim, OeCheul John Kim and Byeong Keun Choi
Development of Simulator of Allophone of Motors for Automobiles-Extended Transfer Function
Synthesis Method for Analysis Object Including Enclosed Acoustic Field and Motor 860
Koji Kobayashi, Seiji Nishida, Yoshifumi Morita, Makoto Iwasaki, Ryo Kano, Yasuhiko Mukai, Hideki Kabune,
Norihisa Ito
Active control of sound transmission through a panel with feedforward and feedback control 866
Akira SANADA, Nobuo TANAKA
New Evaluation Technique of Seal Strength of Heat Sealing with Ultrasonic Pulse 871
Ren Kadowaki, Takumi Inoue, Tatsuya Oda, Takahiro Nakano
Model-based active noise control by a concentrated mass model 878
Shotaro Hisano, Satoshi Ishikawa, Shinya Kijimoto, Yosuke Koba
Vibration of glass panel fixed by adhesive tape of mobile phone 886
Yoshihiko KAITO, Shinya HONDA, and Yoshihiro NARITA
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Preface
The Asian Pacific Vibration Conference (APVC) is an international conference held once every two
years with the intention of encouraging scientific and technical cooperation among Asia Pacific
countries. The conference aims to bring researchers, engineers and students from but not limited to areas
around the Asia Pacific countries in a collegial and stimulating environment to present the most recent
developments and new information on any aspect of mechanical vibration and sound.
The 16th APVC (APVC 2015) was held in November 24-26, 2015 at Hanoi University of Science and
Technology, Vietnam. The previous fifteen series conferences were held in Japan (1985), Korea
(1987), China (1989), Australia (1991), Japan (1993), Malaysia (1995), Korea (1997), Singapore
(1999), China (2001), Australia (2013), Malaysia (2005), Japan (2007), New Zealand (2009), Hong
Kong (2011), Korea (2013).
The program of APVC 2015 covered a broad spectrum of theoretical, computational, and experimental
topics in vibration, control, and sound. The invitation to this meeting resulted in a participation by
about 200 scientists from 11 different countries. During the conference about 150 lectures are
presented. Some of the research areas were
Vibration of continuous systems and structure dynamics
Vibration of discrete systems and machine dynamics
Control and Optimization of dynamic systems
Vibration and Noise
The organization of this conference would not be possible without the support and contributions from
many individuals and organizations. We sincerely appreciate the support from Hanoi University of
Science and Technology (HUST) and Vietnamese Association of Mechanics (VAM).
We would like to thank the support of Department of Applied Mechanics of HUST and the members
of the Local Organizing Committee for their generous assistance during the meeting and the
preparation of this proceedings.
November 2015
Yoshihiro Narita, Hokkaido, Japan Nguyen Van Khang, Hanoi, Viet Nam
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16th Asia Pacific Vibration Conference 24-26 November, 2015 HUST, Hanoi, Vietnam
Advanced sliding mode control of floating container cranes
Pham Van Trieu*, Hoang Manh Cuong*, and Le Anh Tuan*,# *Institute of Research and Development, Vietnam Maritime University, Hai Phong, Viet Nam
# Corresponding Author / E-mail: [email protected]
Abstract This article constructs two robust controllers using sliding mode
control (SMC) techniques. The ship-crane system is operated in
the complicated condition in which the disturbances due to
viscoelasticity of seawater and the flexibility of handling cable are
fully taken into account. With two actuators composed of
trolley-moving force and container-hoisting torque, the controllers
concurrently stabilize six states consisting of trolley displacement,
container lifting motion, container swing, axial container
oscillation, ship roll and heave. The quality of control algorithms
is investigated thru simulation. The results show that the
responses of crane are asymptotically stabilized and ship
vibrations are significantly reduced.
Keywords: cranes; sliding mode control; under-actuated system;
system modeling;
1. Introduction
Container cranes play an important role in cargo transportation. Recently, the rapid development of world logistics and transportation industry trends to construct a
lot of large container ships. Many large harbors in the world are the river-ports with narrow and shallow channels. The big container ships cannot reach into such the harbors. In this case, the cargo transferring process must be done in the area of sea buoy outside the domestic port. A container crane mounted on a ship (as seen in Fig. 1) is applied to lift
and transfer containers from the large ship to small ships. Subsequently, small ships will carry containers to the terminal. To increase the productivity, modern container cranes are required in speedy operation. Without good control strategies, the fast crane motion usually leads to the large cargo swings and non-precise movements. Then,
crane and ship can be destabilized. Until now, numerous theoretical researches as well as
application papers studying on dynamics and control of cranes have been published [1-27]. However, the number of papers concerning on ship-mounted cranes is quite small, compared with that of onshore crane studies. Concentrating
on boom crane mounted on vessel, a lot of articles have been reported. Using delay position feedback method, Henry et al. [6] reduced the cargo pendulations caused by
wave-induced motions of a ship by controlling the boom-luff angle. Rahman et al. [7] reduced payload pendulations due to near-resonance excitations using the reeling and unreeling of handling cable. Masoud et al. [8]
suppressed payload vibrations by controlling both slew and luff angles of the boom. Chin et al. [9&10] provided a model of boom crane as an elastic spherical pendulum. A nonlinear model was solved by the method of multiple scales to find the approximated solutions. Wen et al. [11] constructed a dynamic model of a boom crane on a ship
with Maryland Rigging, investigated the controllability and observability of linearized model, and designed an optimal controller based on linear quadratic regulator to reduce the payload pendulation. Ellermann et al. [12&13] studied nonlinear dynamics of boom crane vessels. Maczynski and Wojciech [18] proposed an auxiliary mechanical system to
stabilize the position of load in ship-mounted boom cranes. Kimiaghalam et al. [19] constructed a feed-forward controller for a shipboard boom crane using gain-scheduling technique. Fang and Wang [20] proposed a nonlinear controller for ship-based boom crane using Lyapunov technique. Spathopoulos et al. [21] designed an
active control system for reducing payload pendulation of an offshore crane based on linear quadratic Gaussian and generalized predictive control. Schaub [22] discussed two active ship motion compensation strategies to reduce cargo swing for offshore boom crane. Newly, Cha et al. [23] analyzed the dynamic behavior of a floating heavy crane in
which the mathematical model was described by 12 nonlinear equations of motion.
Several recent articles have focused on control of container crane mounted on rigid foundation [24-27]. With a simplified model of container crane, a delayed feedback law was investigated in paper [24]. Masoud et al. [25]
developed a new model for container crane in which container was considered a rigid body handled on four rigid cables. Then, the time-delay controller was designed for a simplified version of this model to reduce container sway and track the trolley. Linearizing the model of article [25], Nayfeh et al. [26] created a time-delay feedback controller,
determined the normal form of the Hopf bifurcation using technique of multi-scales, and investigated the robustness of proposed controller.
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Study on dynamics and control of container crane attached on ship has not attracted numerous researchers. Based on a simplified linear model of offshore crane, Messineo et al. [27] presented an adaptive controller to reduce the hydrodynamic slamming load and track the
payload according to a given velocity. Encouraged by recent works [25&26] of Nayfeh’s
group, we focus on dynamics and robust controls of ship-mounted container crane which has the improving points as follows:
(i) Dissimilar to the articles [25&26] where container
crane is mounted on rigid foundation, we claim that the container crane-ship system is suspended on damper-spring foundation characterized for viscoelasticity of seawater. Therefore, the proposed controllers will be designed for the case that disturbance due to elastic-damping property of ocean water is fully included. Furthermore, we consider a
ship as a rigid body described by mass and moment of inertia. Therefore, impact of ship motions on container crane is clearly the dynamic excitations.
(ii) While preceding articles [1-27] assumed that cable was a hard (inelastic) string, this study considers container-handling cable as the elastic damping rope that is
close to realistic crane system in practice. Therefore, the action of disturbance due to elasticity of handling cable is included in robust controllers design, as we will see later.
Normally, the cargo transferring process of container crane consists of three separated phases: lifting the payload, moving the trolley, and lowering the payload. To increase
the efficiency, these phases can simultaneously be combined. The mathematical model and robust controllers are constructed in the complicated operating case in which hoisting the container and pulling the trolley are simultaneously started. The system behavior is described by six fully nonlinear equations of motion. Correspondingly,
six outputs composed of trolley movement, rotation of hoist, container’s oscillation along the cable, container swing, roll and heave motions of ship are considered. The effects of ship roll and heave, the viscous-elasticity of ocean water, the elasticity of hoisting rope are fully taken into account in modeling the ship crane-system and designing the
controllers. Since only two inputs composed of trolley pulling force and torque of hoist are used to drive six outputs, the mathematical model is separated into actuated dynamics and un-actuated dynamics. Two robust nonlinear controllers are designed using conventional and back-stepping SMC approaches. The simulation is carried
out to investigate the controller quantity. The effects of disturbances due to viscoelasticity of seawater and flexibility of wire rope are fully considered in two simulation cases.
Fig. 1. A container crane mounted on a ship
Fig. 2: Physical modeling of a floating container crane
2. System dynamics
A container crane attached on a ship (Fig. 1) is
modeled as a multi-body system shown in Fig. 2. Ship is considered as a rigid body having its center mass mb and its moment of inertia Jb. Ship is suspended on stiffness and damping components k1, k2, b1, b2 characterized for elasticity and viscous damping of seawater. Container handled on flexible cable is viewed as a point mass mc. The
flexibility of cable is characterized by spring k3 and damper b3. Trolley is pushed by force ut to move along the primary beam of crane. Hoisting mechanism is fixed on trolley base and the container is lifted or lowered by rotating a drum having radius rm and moment of inertia Jm. The dynamical behavior of system is analyzed in the complicated
operating case in which hoisting the container and moving the trolley are simultaneously implemented. The dynamic system set in reference Cartesian frame Oxy composes of
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two rigid bodies, namely ship’s body (mb, Jb) and hoisting drum Jm, and two particles, namely trolley mass mt and container mass mc. The mechanical system has six degrees of freedom associated with six generalized coordinates: trolley motion along the primary beam of crane
1 ,tq x rotation of hoisting drum 2 ,mq container swing
3 ,q container oscillation along the cable
4 ,q s vertical oscillation of ship 5 ,q y and ship swing
6 .bq Two actuators compose of trolley pulling force
tu and torque mM of lifting drum. Based on Lagrange’s
equations, we constituted the fully nonlinear equation of motion in paper [28] as follows
, M q q C q q q G q U (1)
where, ijm M q is symmetric mass matrix,
, ijc C q q denotes centrifugal damping matrix,
T
jg G q ( , 1 6i j ) indicates a gravitational vector,
1 2 0 0 0 0T
t mu u u M U is a vector of inputs,
and 1 2 3 4 5 6
T T
t m bx s y q q q q q q q is
a vector of generalized coordinates. The components of mass matrix has the following form
11 c tm m m , 12 6 3sin( )c mm m r q q ,
13 0 4 2 3 6 3( ) cos( )c m mm m l s q r q r q q q ,
14 6 3sin( )cm m q q , 15 6( )sint cm m m q ,
16 2( )t cm m m a , 21 6 3sin( )c mm m r q q ,
222 m c mm J m r , 24 c mm m r , 25 3cosc mm m r q ,
26 2 6 3
1 1 6 3
sin( )
( )cos( )m c m
c m
m J m r a q q
m r q a q q
,
31 0 4 3 2 6 3( )cos( )c m mm m l s q r q r q q q ,
2 2 2 233 0 4 3 2
0 4 2 3 0
2 4 3 4
( ) ( )
2 ( ) 2 ( )( )
2
c c c m
c c m
c m
m m l s m q m r q q
m l s q m r q q l s
m r q q q q
,
35 0 4 3 2 3( )sinc m mm m l s q r q r q q ,
36 2 0 4 3 2 6 3
0 4 3 2 1 1 6 3
( )cos( )
( )( )sin( )c m m
c m m
m m a l s q r q r q q q
m l s q r q r q q a q q
,
41 6 3sin( )cm m q q , 42 c mm m r , 44 cm m ,
45 3coscm m q , 51 6( )sinc tm m m q ,
46 1 1 6 3 2 6 3( ) cos( ) sin( )c cm m q a q q m a q q
52 3cosc mm m r q ,
54 3coscm m q , 55 t b cm m m m ,
53 0 4 2 3 3( ) sinc m mm m l s q r q r q q ,
56 1 1 6
2 6
( ) ( ) cos
( ) sint c t c
t c
m m m a m m q q
m m a q
,
61 2( )c tm m m a ,
62 1 1 6 3
2 6 3
( )cos( )
sin( )m c m
c m
m J m r q a q q
m a r q q
,
63 2 0 4 2 3 6 3
0 41 1 6 3
3 2
( ) cos( )
( ) sin( )
c m m
cm m
m m a l s q r q r q q q
l s qm q a q q
r q r q
,
64 1 1 6 3 2 6 3( ) cos( ) sin( )c cm m q a q q m a q q ,
65 1 1 6 2 6( )( ) cos ( ) sint c t Cm m m a q q m m a q ,
2 2 266 1 1 2 1 1( )( 2 )b m t cm J J m m q a a a q ,
23 32 34 43 0.m m m m
The elements of damping matrix is of the form
11 tc b , 12 3 6 32 cos( )c mc m r q q q ,
13 3 4 6 3
0 4 3 2 3 6 3
( 2 ) cos( )
( ) sin( )c m
c m m
c m r q q q q
m l s q r q r q q q q
,
16 1 1 6( )( )t cc m m a q q , 21 6 6 32 cos( )cc m rq q q ,
22 mc b , 23 0 4 2 3( )c m m mc m r l s r q r q q ,
26 1 1 6 6 3 2 6 6 3( ) sin( ) cos( )c m c mc m r q a q q q m r a q q q
,
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31 0 4 3 2 6 6 32 ( ) sin( )c m mc m l s q r q r q q q q ,
32 0 4 3 2 32 ( )c m m mc m r l s q r q r q q ,
33 0 4 2 3 4 3( )(2 )c m mc m l s q r q r q q rq ,
0 436 1 1 6 3 6
3 2
2 0 4 2 3 6 3 6
( ) cos( )
( ) sin( )
cm m
c m m
l s qc m q a q q q
r q r q
m a l s q r q r q q q q
,
41 6 6 32 cos( )cc m q q q , 44 3c b ,
43 0 4 2 3 3( )c m mc m l s q r q r q q ,
46 1 1 6 3 6 2 6 3 6( + )sin( ) cos( )c cc m q a q q q m a q q q ,
51 6 62( ) cost cc m m q q , 55 1 2c b b ,
53 0 4 2 3 3 3
3 2 4 3
( )cos
( 2 2 )sinc m m
c m
c m l s q r q r q q q
m r q rq q q
,
56 2 4 1 3 2 6 6
1 1 6 6
( ) cos
( )( ) sint c
t c
c b a b a m m a q q
m m a q q q
,
61 1 1 62( )( )t cc m m q a q ,
1 1 4 2 363 6 3
2 0 4 3 2 3
2 4 2 3
1 1 0 4 6 3
3 2 3
( )(2 2 )sin( )
( )
(2 2 )
( )( cos( )
)
m mc
m m
m m
c
m m
q a q r q r qc m q q
a l s q r q r q q
a q r q r q
m q a l s q q q
r q r q q
,
65 2 4 1 3c b a b a , 2 266 2 4 1 3c b a b a ,
14 15 24 25 34 35
42 45 52 54 62 64 0.
c c c c c c
c c c c c c
and the coefficients of gravity vector is determined by
1 6( ) sint cg m m g q , 2 3cosc mg m gr q ,
3 0 4 2 3 3( )sinc m mg m g l s q r q r q q ,
4 3 4 3( ) coscg k q s m g q ,
5 1 3 2 4 6
1 2 5
( ) ( )
( )( )b t cg m m m g k a k a q
k k q y
,
2 26 1 3 2 4 5 1 3 2 4 6
1 1 6
2 6
( )( ) ( )
( ) ( )cos
( ) sint c
C t
g k a k a q y k a k a q
m m g a q q
m m ga q
.
3. Controllers design
In this section, two robust controllers are constructed using conventional and advanced sliding mode techniques. The controllers are applied for stabilizing offshore container crane in its complicated operation in which lifting the container and moving the trolley are simultaneously combined. More precisely, the controllers simultaneously conduct seven duties: tracking the trolley to destination, hoisting the container to desired cable length, suppressing the axial oscillation of container caused by cable elasticity, maintaining the container swing small during transient-state and completely eliminating this swing at steady-state, reducing the heave and roll motions of ship as small as possible.
3.1 Decoupling A container crane mounted on a ship has six degrees of
freedom associated with six output components,
1 2 3 4 5 6
Tq q q q q qq . As an under-actuated
system, six output variables are driven by two input signals,
1 2 0 0 0 0T
u uU in which only actuated states
1 2
T
a q qq are directly tracked by control forces
1 1 2 .T
u uU The un-actuated states
3 4 5 6
T
u q q q qq are not connected directly to
actuators. Corresponding to actuated and un-actuated states, the mathematical model (1) can be decomposed into two sub-systems as
11 12 11
12 1 1
( ) ( ) ( , )
( , ) ( ) ( , )a u a
u
M q q M q q C q q q
C q q q G q U q q
(2)
21 22 21
22 2 4 1
( ) ( ) ( , )
( , ) ( )a u a
u
M q q M q q C q q q
C q q q G q 0
(3)
where,
13 14 15 1611 1211 12
24 25 2621 22
,0
m m m mm m
m m mm m
M q M q
31 33 35 36
41 42 44 45 4621 22
51 52 53 54 55 56
61 62 63 64 65 66
0 0
0,
m m m m
m m m m m
m m m m m m
m m m m m m
M q M q
13 1611 1211 12
23 2621 22
0 0, , ,
0 0
c cc c
c cc c
C q q C q q
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31 32 33 36
41 43 44 4621 22
51 53 55 56
61 63 65 66
0 0
0 0, , ,
0 0
0 0
c c c c
c c c c
c c c c
c c c c
C q q C q q
1 1 2
Tg gG q , 2 3 4 5 6
Tg g g gG q .
The matrices and vectors of equation (13) is now reduced as
11 12 11 12
21 22 21 22
, ,, ,
, ,
M q M q C q q C q qM q C q q
M q M q C q q C q q
1 2 1 4 1, ( , ) ( , )T T
G q G q G q U q q U q q 0
3.2 Conventional sliding mode control Mathematically, the control schemes are designed to
drive the actuated states 1 2
T
a q qq approaching to
reference positions 1 2
T
ad d dq qq , and un-actuated
states 3 4 5 6
T
u q q q qq reaching to desired values
3 4 5 60 0T
ud d dq q q q q asymptotically. Since
22 ( )M q is positive definite for every 6Rq , un-actuated
dynamics (3) can be rewritten as
21 21122
22 2
( ) ( , )( )
( , ) ( )a a
uu
M q q C q q qq M q
C q q q G q
(4)
Substituting equation (4) into equation (2), one obtains the reduced form of system dynamics
1 2 1( ) ( , ) ( , ) ( ) ( , )a a u M q q C q q q C q q q G q U q q (5)
where, 1
11 12 22 21
11 11 12 22 21
12 12 12 22 22
11 12 22 2
( ) ( ) ( ) ( ) ( )
( , ) ( , ) ( ) ( ) ( , )
( , ) ( , ) ( ) ( ) ( , )
( ) ( ) ( ) ( ) ( )
M q M q M q M q M q
C q q C q q M q M q C q q
C q q C q q M q M q C q q
G q G q M q M q G q
Considering aq as system outputs, actuated dynamics
(5) is modified as
11 1 2( ) ( , ) ( , ) ( , ) ( )a a u
q M q U q q C q q q C q q q G q (6)
with ( )M q being a positive definite matrix.
Defining the switching manifold as linear combination
of tracking errors a a ad e q q and u u ud e q q , we
have
a a u s e e e (7)
where, 2s R , 1
2
0
0
and 1 2
3 4
0 0
0 0
are
matrices of positive parameters. Derivative of s with respect to time is determined by
a a u s q q q (8)
Inserting (6) into (7) and (8) into the exponential approaching dynamics
sgn s s K s 0 (9)
leads to the conventional SMC law
1
1 2
2,
sgn
, ,
Ta u a ad
u
a u
q q q qU q q M q
q K s
C q q q C q q q G q
(10)
where, K is a diagonal positive gain matrix,
1 2 1 2diag , , , 0K K K K K , sgn s denotes the sign
function of the sliding surface. The component sgn s of
control input (10) makes the system trajectories remain on the surface (7).
3.3. Stability analysis of sliding surface Let us investigate the stability of sliding regime by
considering a positive definite function
1
2TV s s (11)
The derivative of V with respect to time is defined as
TV s s (12)
Substituting (8) into (4) yields
2
sgn
Ta u a ad
a
u
q q q qq
q K s
(13)
Inserting (13) into (8) and (10) into (12), one obtains the negative semi-definite function
2 2
1 1 2 2 1 1 2 2
sgn
0
T TV
s s K s K s
s s s K s (14)
which implies that 0V t V for every 1 2, 0,0
and 1 2, 0,0K K . This means that s is limited in a
boundary. Barbalat’s lemma indicates that lim 0t
V
leads
to lim 0t
s . Hence, the sliding surface is asymptotically
stabilized.
3.4 Back-stepping sliding mode control
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Let us design a controller based on the combination of back-stepping and SMC approaches. Consider a Lyapunov lower-bounded function
1
1
2Ta aV e e (15)
whose derivative with respect to time is described by
1Ta aV e e (16)
Referring to fictitious input ae from sliding surface
equation (7), or letting fictitious input a a u e s e e to
asymptotically stabilize actuated tracking error ae , then
inserting it into (15), one derives
1T T T
a a a a uV s e e e e e (17)
If s 0 then 1 0V or 1 1 0V t V for every
positive definite matrix and positive control gains .
Therefore, ae is bounded. Applying Barbalat’s lemma, we
can conclude that a e 0 as t . Next step,
considering
2 1
1
2TV V s s (18)
as a composite Lyapunov candidate, we obtain
2 1T T T T T
a a a a uV V s s = s e e e e e s s (19)
Inserting (6) into (8) and (10) into (19) yields
2
1 11
2
, ,
,
T T Ta a a a u
a
T
u
a u
V
= s e e e e e
U q q C q q qM q
s C q q q G q
q q
(20)
Choosing
1 1
2
, ,
,
sgn
a
u
a ad
U q q C q q M q q
C q q M q q
M q q q G q M q s
(21)
as back-stepping SMC input, we obtain the derivative of
2V which is described by
2 1 1
1 1 1 2 2
sgn
= 0
T TV V V
V s s
s s = s s
(22)
Clearly, 2 0V for every positive definite matrix,
1 2diag , . Applying Barbalat’s lemma, we easily
prove that s 0 as t . Referring from sliding
surface defined by (7), the asymptotical stability of sliding
surface s and that of actuated tracking error ae lead to
zero-convergence of un-actuated tracking error eu.
4. Numerical simulation and results
The system behavior is investigated thru simulation. The mathematical model (2)&(3) is numerically analyzed based on MATLAB environment for three following cases:
(i) Uncontrolled case. The crane lifts the container, and at the same time, moves the trolley to desired position. The inputs composed of trolley driving force and torque of hoist are determined in terms of motor performance curves. For example, the inputs of three-phase induction AC motors can be analytically represented as
max 1 if ( )
0 if
s s tst ts
ts
tU U U t t
u t t
t t
(23)
max 1 if
if
s s tsm ts
s ts
tM M M t t
M t t
M t t
(24)
where, s f c tU k m m g and s c mM m r g are static
force and torque at steady-state, max ,U maxM are
maximum starting force and torque at transient-state
determined from motor’s catalogs, tst is time duration of
transient-state, fk is coefficient of kinetic friction.
(ii) Conventional SMC and back-stepping SMC. The dynamics (2)&(3) of crane-ship system is respectively driven by conventional SMC input (10) and back-stepping SMC input (21). The system parameters and gains of controllers used for simulation are depicted in Table 1. Controller parameters are chosen based on trial and error method.
The controllers (10) and (21) will move the trolley suspending container to 3 m – desired position, concurrently lift the container from initial cable length l0 =
15 m to 0 12d m mdl l r s m – desired cable length in
terms of the number of desired revolution of hoisting drum
being 0 0180
528.88 1.469dmd
m
l l
r
revolutions.
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Table 1. System parameters and gains of controllers
System parameters Conventional
SMC Back-stepping
SMC
a2 = 32 m, a3 = 12.5 m, a4 = 12.5 m,
rm = 0.325 m, l0 =15 m, mb = 4500000 kg,
mt =5900 kg, mc = 650 kg, Jb =
571875000 kgm2, Jm = 41700 kgm2, k1
= 1250000 N/m, k2 = 1250000 N/m, k3
= 12000 N/m, b1 = 200 Ns/m,
b2=200 Ns/m, b3 = 220 Ns/m,
bt = 50 Ns/m, g = 9.81m/s2, bm = 70
Ns/m.
1 0.2,
2 0.4,
1 13,
2 1,
3 4,
4 0.1,
1 2 2,K K
1 0.2,
2 0.3,
1 13,
2 0.1,
3 3,
4 0.1,
1 2 5,
The duties of controllers (10) and (21) are strictly complicated since only two control inputs are applied to drive six system outputs. The initial conditions correspond to static balance of crane-ship system given by
1 2 3 4 5 60 0 0 0 0 0 0q q q q q q (25)
1 2 3 4 5 60 0 0 0 0 0 0q q q q q q (26)
(iii) Simulation results and analysis. The simulation results are described in Figs. 3-9. Without control, trolley motion is destabilized (Fig. 3a). Conversely, the proposed controllers precisely track the trolley moving to 3m-desired position (Fig. 3b). In the case that control strategy is not equipped, the axial oscillation of container (Fig. 7a) and container swing (Fig. 6a) trend to divergence with the large
amplitudes ( 0max max46 , 3.8 cms ) Furthermore,
container cannot be lifted to reference (Figs. 4a&5a). The instability of container crane partly leads the ship to instable motions (Figs. 8a&9a). The conventional SMC and back-stepping SMC make the responses of container crane asymptotically approach to references: container is lifted to 12 m – desired cable length (Fig. 5b) within 18 sec,
container swing is kept small ( 0max 1.4 ) during the
transportation period and absolutely suppressed at its destination (Fig. 6b). The axial container oscillation due to elasticity of cable (Fig. 7a) is completely eliminated by proposed controllers within 9 sec as seen in Fig 7b. It can be seen in Figs. 4a&5a that the convergence of
back-stepping SMC based responses is faster and smoother than that of conventional SMC base responses. Although controllers (26) and (37) can not completely stabilize the ship responses, they partly reduce heave and roll motions of ship as shown in Figs 8b&9b. We can see obviously in Figs 8b&9b that back-stepping SMC based ship responses are better than conventional SMC based ship responses. Notably, the main duty of proposed controllers is to stabilize responses of the container crane. The solution for ship stabilization is not included in proposed controllers (26)&(37). Normally, stabilizing the ship rely on naval architectural engineering which has not been mentioned here.
0 0.5 1 1.5 2 2.5 3 3.5 40
10
20
30
40
Time (s)
Dis
plac
emen
t (m
)
Fig. 3a. Trolley motion (xt): Uncontrolled case
0 10 20 30 40 500
1
2
3
4
Time (s)
Dis
plac
emen
t (m
)
Conventional SMCBackstepping SMC
Fig. 3b. Trolley motion (xt): Conventional and
back-stepping controls
0 10 20 30 40 50-0.05
0
0.05
0.1
0.15
0.2
Time (s)
The
num
ber
of r
evol
utio
ns
Fig. 4a. Rotation of hoisting drum (m): Uncontrolled case
639
APVC2015
16th Asia Pacific Vibration Conference 24-26 November, 2015 HUST, Hanoi, Vietnam
0 10 20 30 40 500
0.5
1
1.5
2
Time (s)
The
num
ber
of r
evol
utio
ns
Conventional SMC
Backstepping SMC
Fig. 4b. Rotation of hoisting drum (m): Conventional and back-stepping controls
0 10 20 30 40 5014.4
14.6
14.8
15
15.2
15.4
Time (s)
Cab
le le
ngth
(m
)
Fig. 5a. Container-lifting motion: Uncontrolled case
0 10 20 30 40 5011
12
13
14
15
Time (s)
Cab
le le
ngth
(m
)
Conventional SMCBackstepping SMC
Fig. 5b. Container-lifting motion: Conventional and
back-stepping controls
0 10 20 30 40 50-60
-40
-20
0
20
40
60
Time (s)
Ang
le (
degr
ee)
Fig. 6a. Container swing (): Uncontrolled case
0 10 20 30 40 50-1
-0.5
0
0.5
1
1.5
Time (s)
Ang
le (
degr
ee)
Conventional SMCBackstepping SMC
Fig. 6b. Container swing (): Conventional and
back-stepping controls
0 10 20 30 40 50-0.04
-0.02
0
0.02
0.04
0.06
Time (s)
Dis
plac
emen
t (m
)
Fig. 7a. Axial container oscillation (s): Uncontrolled case
0 5 10 15 20-0.02
-0.01
0
0.01
0.02
0.03
Time (s)
Dis
plac
emen
t (m
)
Conventional SMCBackstepping SMC
Fig. 7b. Axial container oscillation (s): Conventional and
back-stepping controls
0 10 20 30 40 50 60 70-1
0
1
2
3
4
5
Time (s)
Dis
plac
emen
t (m
)
Fig. 8a. Ship heave (y): Uncontrolled case
640
APVC2015
16th Asia Pacific Vibration Conference 24-26 November, 2015 HUST, Hanoi, Vietnam
0 10 20 30 40 50 60 70-0.04
-0.02
0
0.02
0.04
0.06
0.08
Time (s)
Dis
plac
emen
t (m
)
Conventional SMCBackstepping SMC
Fig. 8b. Ship heave (y): Conventional and back-stepping
controls
0 10 20 30 40 50 60 70-25
-20
-15
-10
-5
0
5
Time (s)
Ang
le (
degr
ee)
Fig. 9a. Ship roll (b): Uncontrolled case
0 10 20 30 40 50-0.06
-0.04
-0.02
0
0.02
Time (s)
Ang
le (
degr
ee)
Conventional SMCBackstepping SMC
Fig. 9b. Ship roll (b): Conventional and back-stepping
controls
5. Conclusion
Based on conventional SMC and back-stepping integrated SMC techniques, two robust nonlinear controllers was proposed to control the outputs: tracking the trolley to desired position, hoisting the payload to reference cable length, suppressing the container swing, eliminating the axial oscillation of container along the cable, and reducing the vertical oscillation and the roll angle of ship. The controllers were designed for the complicated operation of container crane-ship system in which the effects of viscoelasticity of seawater and elasticity of hoisting cable was fully considered. The simulation results show that the container crane’s responses are asymptotically stabilized and ship’s vibrations were considerably reduced.
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642
AUTHOR INDEX
Last, Firstname Page
A
Abdulkareem, Muyideen 170
Abe, Akira 668
Ahn, Byung-Hyun 555, 855
Ahn, Hyeong-Joon 516, 546,
702, 780
Ahn, Jin Ho 99
Akao, Satoru 295
Andou, Hiroaki 606
Aoki, Takashi 725
Aoki, Yasuo 725
Aono, Akihiro 37
Aoshima, Keita 342
Asami, Toshihiko 324
Asaoka, Sho 149
Aziz, Z.A. 286
B
Bakhary, Norhisham 170
Bangchun, Wen 571
Brown, Terry 560
Bui, Huy Kien 268
Byon, Jun Ho 99
C
Caracoglia, Luca 154, 162
Chen, An-jun 440
Chen, Lumiao 456
Chen, Ye 588
Cheng, Li 42, 844
Cho, Chung Il 546, 780
Choi, Byeong-Keun 386, 491,
555, 855
Choi, Hun Oh 435
Chu, Fulei 191, 448, 456
D
Dang, Bao Lam 336
Dao, Duy Lam 714
Dao, Huy Bich 268
Dinh, Gia Ninh 268
Dinh, Tan Hung 183
Dinh, Van Phong 532, 799
Do, Dang Khoa 532, 784
Do, Nam Duc 730
Do, Sanh 532, 784
Duong, Ngoc Hao 374
Duong, Ngoc Khanh 552
F
Fan, Chao 588
Fang, Yuhong 368
Fujimoto, Shigeru 149
Fujita, Katsuhide 300, 391
Fujita, Satoshi 103, 108, 232, 500,
679, 686
Fukui, Kotaro 113
Furuya, Keiichiro 718
Furuya, Kohei 93, 222
Furuya, Nobuyuki 93
Furuya, Osamu 149, 177, 494
G
Goda, Kengo 494
H
Ha, Jung-Min 555
Han, Jae-Hung 461, 512
Han, Qinkai 448
Hase, Yuki 500
Hasebe, Yusuke 361
Hayashi, Toshiya 69
Hee, L. M. 525
Hemmati, Hossein 63
Hino, Junichi 754
Hirai, Takao 837
Hisano, Shotaro 878
Hoang, Manh Cuong 633
Hoang, Phuong Hoa 244
Honda, Shinya 69, 87, 212, 655,
760, 886
Hongu, Junichi 708
Horii, Hirosuke 93
Horiuchi, Makoto 395
Hosokawa, Kenji 77
Hou, Zhichao 806
Huang, Wei 844
Huang, Xianzhen 538
Huang, Zhicheng 191
Hui, K. H. 521, 525
Hwang, Jae Deok 435
Hwang, Kang-Jo 516, 702
I
Iba, Daisuke 708
Ikeda, Toshiyuki 406
Imamura, Kyosuke 32
Imanishi, Kazuya 324
Imran, Sardar Muhammad 806
Inami, Kimihiko 686
Inoue, Takumi 131, 871
Ise, Tomohiko 324
Ishihana, Kenta 494
Ishihara, Yukiko 232
Ishikawa, Satoshi 142, 506, 878
Ishizuka, Shinichi 718
Isoda, Ryosuke 307
Itadani, Kota 312
Ito, Akihito 54, 468, 606
Ito, Norihisa 860
Ito, Tomohiro 329
Itoga, Takaaki 324
Iwamoto, Hiroyuki 126, 694
Iwasaki, Makoto 860
Izyan, M.D. Nurul 286
J
Jang, Kuehwan 823
Jang, Yong-Ho 491
Jeong, Jae Seong 516, 780
Jeong, ManYong 342, 352
Jeong, Sin Woo 228
Ji, Hongli 42, 844
Ji, J.C. 560
Jiang, Huan-xin 440
Jiang, Jing 593
K
Kabune, Hideki 860
Kadowaki, Ren 131, 871
Kaito, Yoshihiko 886
Kajiwara, Itsuro 718
Kamei, Junya 831
Kaneko, Mitsugu 300
Kaneko, Shigehiko 427
Kano, Ryo 860
Kato, Masaki 113
Kato, Ryo 679
Kawamura, Shozo 32, 37, 54, 307,
312, 395
Kawashima, Takeshi 419
Kijimoto, Shinya 878
Kim, Byeonghee 99
Kim, Chae Sil 435
Kim, Dong Il 435
Kim, Hack-Eun 386, 491
Kim, Hyo Jung 491, 855
Kim, Kihyun 1
Kim, Kwang-Joon 81
Kim, OeCheul John 855
Kim, Seockhyun 99
Kim, Yong-Seok 555, 855
Kishida, Takuya 131
Koba, Yosuke 878
Kobayashi, Koji 860
Kobayashi, Takanori 690
Koike, Yoshio 136
Koketsu, Yu 406
Kondou, Takahiro 142, 506,
662, 673
Kosaka, Fumihiko 395
Kozukue, Wakae 601
Kumagai, Takahito 87
Kunimatsu, Yuki 318
Kuratani, Fumiyasu 606, 837
Kuroda, Katsuhiko 237
Kwon, Chang-Beom 512
L
La, Duc Viet 623
Le, Anh Tuan 633
Le, Thai-Hoa 154, 162
Lee, Dong-Kyu 512
Lee, J.H. 286
Lee, Jong Myeong 491
Lee, Jong-Myeong 386
Lee, Joong Hyeok 99
Lee, Sang Jeong 59
Leong, M. Salman 521, 525
Li, He 582
Li, Hui 582
Liang, Jack 566
Lim, M. H. 521
Liu, Panxue 538
Liu, Shuying 593
Liu, Ziliang 576
Lu, Li-xin 440
M
Matsubara, Masami 32, 37, 54,
307, 312, 395
Matsuda, Tomoyuki 204, 730
Matsumura, Yuichi 93, 222
Matsuoka, Taichi 400
Matsuzaki, Kenichiro 142, 475,
506, 614, 673
Minagawa, Keisuke 103, 232, 500,
679, 686
Miura, Nanako 204, 730
Miyaji, Hideyuki 601
Mizota, Toru 673
Mori, Hiroki 673, 690
Mori, Yoshifumi 391
Morishita, Shin 295, 361
Morita, Yoshifumi 860
Moriwaki, Ichiro 708
Mukai, Yasuhiko 860
Muramatsu, Ken 149
Muta, Hitoshi 149
N
Na, Sungsoo 823
Nagamine, Takuo 690
Nagatani, Asahiro 54
Nahvi, Hassan 63
Nakae, Takashi 475, 614
Nakagawa, Chihiro 329
Nakamura, Morimasa 708
Nakamura, Takenori 391
Nakamura, Tomomichi 6
Nakano, Takahiro 871
Nakano, Yutaka 380
Nanba, Akihiro 475
Narita, Yoshihiro 69, 87, 212, 655,
760, 886
Nariya, Koji 108
Nerse, Can 218
Ngo, Kieu Nhi 13, 21, 738, 746
Ngui, W. K. 521, 525
Nguyen, Anh Tuan 461, 643
Nguyen, Ba Nghi 623
Nguyen, Ba Tuyen 222
Nguyen, Canh 516
Nguyen, Cao Thang 374
Nguyen, Da Thao 13
Nguyen, Dinh Duc 251
Nguyen, Dinh Dung 791
Nguyen, Dong Anh 374, 413
Nguyen, Duc Thi Thu Dinh 278
Nguyen, Duc-Canh 702
Nguyen, Duy-Thao 767
Nguyen, Hung Chi 730
Nguyen, Huu Hung 119, 278
Nguyen, Ngoc Linh 413
Nguyen, Quang Hoang 791, 799
Nguyen, Quang Thanh 13, 21
Nguyen, Sy Dzung 738, 746
Nguyen, Toan Xuan 196, 260
Nguyen, Trong Phuoc 244
Nguyen, Van Khang 643, 649, 791
Nguyen, Van Quyen 799
Nguyen, Van Sy 183
Nguyen, Vien Quoc 746
Nguyen, Viet Trung 278, 714
Nguyen, Xuan Ha 336
Nguyen, Xuan Thuan 204, 730
Nguyen, Xuan-Toan 767
Niikawa, Takeshi 113
Niiyama, Nobuhiro 177
Nishida, Seiji 860
Nishioka, Fumiya 760
Niwa, Tomonori 400
O
Oda, Tatsuya 871
Ogata, Keiji 177
Ogushi, Masaki 850
Oh, Yutaek 50
Ohama, Kazumasa 131
Ohashi, Tatsuro 77
Ohmata, Kenichiro 400
Ohmura, Kazuhisa 131
Okabe, Keisuke 668
Okamoto, Mineki 774
Omata, Shohei 494
Ooi, Yoichi 475, 614
P
Park, Chanho 823
Park, Gyu-Jin 386
Park, Jinsung 823
Park, Jong-beom 59
Park, No-Cheol 59
Park, Sun Hwi 491
Park, SunHwi 855
Park, Youngjin 826
Pham, Anh Duc 546
Pham, Bao Toan 13, 21
Pham, Dinh Trung 244
Pham, Minh Hai 336
Pham, Thai Quoc 329
Pham, Van Trieu 633
Phan, Dang Phong 784
Q
Qin, Zhaoye 191, 456
Qiu, Hengbin 483
Qiu, Jinhao 42, 844
R
Ren, Zhaohui 582
Roh, Woo-Jin 59
Rosbi, Sofian 475, 614
Roser, Holger 368
Ryu, Homin 1
Ryu, Takahiro 475, 614
S
Saito, Takashi 300, 391
Sakurai, Tomoki 295
Sanada, Akira 866
Sasajima, Manabu 136
Sasaki, Takayuki 708
Sasuga, Masashi 93
Sato, Hiroki 468
Sato, Yuichi 690
Seo, Soon-woo 81
Seo, Tae Il 738, 746
Shida, Zenichiro 406
Shimura, Yuta 103
Shin, Min Jae 435
Shintani, Atsuhiko 329
Shiohata, Koki 850
Shiozaki, Hirotaka 222
Shiraishi, Toshihiko 361, 831
Shirasuna, Noriyuki 380
Shuying, Liu 571
Son, Daehyuk 826
Son, Seok-Man 555
Sone, Akira 204, 730
Sonobe, Motomichi 754
Sowa, Nobuyuki 673
Sudo, Mutsuhito 686
Sueoka, Atsuo 475, 614
Sumitani, Takuya 6
Suzuki, Yuto 352
T
Ta, Tuan Hung 552
Tagawa, Yasutaka 725, 774
Takahara, Hiroki 380
Takahashi, Osamu 108
Takai, Akihiro 427
Takayanagi, Tenma 400
Takehara, Shoichiro 318, 406
Takikawa, Yoshihiro 475, 614
Tampo, Tatsuya 212
Tanaka, Go 679
Tanaka, Motoki 817
Tanaka, Nobuo 126, 694, 817, 866
Tanaka, Soichiro 655
Tanaka, Yudai 108
Tang, Liling 42
Taniguchi, Tomoyuki 662
Terumichi, Yoshiaki 318, 406
Tran, Duc 532
Tran, Duc Van 196, 260
Tran, Ngoc An 649
Tran, Quang Thinh 738
Tran, Quoc Quan 251
Tran, The Linh 546
Trieu, Quoc Loc 643
Truong, Nang Toan 746
Tsujiuchi, Nobutaka 54, 468, 606
V
Vafaei, Mohammadreza 170
Viswanathan, K.K. 286
Vo, Van Huong 552
Vu, Dinh Quy 28, 183
Vu, Duc Binh 784
W
Walker, Paul 368
Wang, Hao 538
Wang, Jun 440
Wang, Qi-li 440
Wang, Semyung 1, 218
Washio, Saiji 837
Watanabe, Mitsuharu 136
Watanabe, Motoya 694
Watanabe, Seiji 113
Wen, Bangchun 576, 582, 588, 593
Wu, Yan 593
X
Xu, Xueping 448
Xu, Zili 483
Xueliang, Zhang 571
Y
Yamada, Joji 6
Yamaguchi, Hirotaka 754
Yamaguchi, Takao 136
Yamashita, Masashi 628
Yamazaki, Daisuke 361
Yang, Zhou 538
Yao, Hongliang 576
Yoo, Hong Hee 50, 228
Yoon, Jae-San 512
Yoshida, Kazuhiro 177
Yoshida, Tatsuya 606, 837
Yoshida, Yuto 318
Yoshidomi, Mami 468
Yoshitake, Tatsuhiro 142
You, Junseok 823
Yu, Hyeon-Tak 386
Z
Zakaria, M. K. 525
Zhang, Chunmei 483
Zhang, Nong 368, 566
Zhang, Su 42
Zhang, Yimin 538
Zhao, Chunyu 588
Zhu, Sangzhi 566
Zongyan, Wang 571
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