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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

iii

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)

iv




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

v




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

vi




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

vii




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

viii




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

ix




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

x




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

xi




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

xii




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

xiii




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

xv




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

APVC2015

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

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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

)


Fig. 5b. Container-lifting motion: Conventional and


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)


Fig. 6b. Container swing (): Conventional and


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

)


Fig. 7b. Axial container oscillation (s): Conventional and


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


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

)


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)


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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Acknowledgements

This research is funded by Vietnam National Foundation for Science and Technology Development (NAFOSTED) under grant number 107.01-2013.04.

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

Proceedings of the 16th Asia Pacific Vibration Conference.

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