Attenuation of Initial Oscillation in Bridge Cranes via Input-shaping-based Feedback Control Methods
نویسندگان
چکیده
Crane payloads are frequently subject to oscillations induced through movement and external disturbances. These oscillations degrade performance and can be dangerous. Input shaping is an effective method to move cranes without creating oscillation, however it is not effective on initial swing. This paper develops a feedback control system, with two operation modes based on input shaping, that allows a crane operator to remove initial oscillations while retaining control over the crane movement direction. The system is shown to be simple to implement, and the effectiveness of the two operation modes is verified experimentally on a scale bridge crane.
منابع مشابه
A controller enabling precise positioning and sway reduction in bridge and gantry cranes
Precise manipulation of payloads is difficult with cranes. Oscillation can be induced into the lightly damped system by motion of the bridge or trolley, or from environmental disturbances. To address both sources of oscillation, a combined feedback and input shaping controller is developed. The controller is comprised of three distinct modules. A feedback module detects and compensates for posi...
متن کاملA Controller Enabling Precise Positioning and Sway Reduction in Cranes with On-off Actuation
Precise manipulation of payloads is difficult with large cranes. Oscillation can be induced into the lightly damped system by motion of the overhead support point, or from environmental disturbances. A combined feedback and input shaping controller is presented here. The controller uses feedback to detect and compensate for positioning error in the overhead support unit (e.g. the bridge or trol...
متن کاملDouble-pendulum Crane Operator Performance Comparing Pd-feedback Control and Input Shaping
A primary limitation on crane operations is the difficulty of controlling payload oscillations. Given the significance of cranes, it is not surprising that a large amount of research has been dedicated to eliminating crane payload oscillation. Numerous feedbackbased control methods have been proposed. Command-shaping is another method that has received significant attention. This paper compares...
متن کاملCommand Shaping for Nonlinear Crane Dynamics
Motion-induced vibration can be greatly reduced by properly shaping the reference command. Input shaping is one type of reference shaping method that is based largely on linear superposition. In this paper we document the impact of nonlinear crane dynamics on the effectiveness of input shaping. As typical bridge cranes are driven using Cartesian motions, they behave nearly linearly for lowand m...
متن کاملControl of Flexible Link Robot using a Closed Loop Input-Shaping Approach
This paper is has addressed the Single Flexible Link Robot. The dynamical model is derived using Euler-Lagrange equation and then a proper controller is designed to suppress a vibration based-on Input-Shaping (IS) method. But, IS control method is an open loop strategy. Due to the weakness of open loop control systems, a closed loop IS control system is proposed. The achieved closed loop c...
متن کامل