A study of crane operator performance comparing PD-control and input shaping

Abstract

Cranes are the primary heavy lifters for a wide variety of industries. However, all cranes suffer from payload oscillation. Numerous feedback-based control methods have been proposed to reduce oscillation. Command-shaping is another method that has received significant attention. This paper compares the two methods for crane control. It also presents a study of twelve novice crane operators using representative input-shaping and feedback control methods. Both feedback control and input shaping reduced average task completion time from the manually controlled case, with input shaping providing the lowest average completion time. Input shaping also allowed the operators to move the trolley through a shorter total path length toward the target, suggesting that input shaping may save energy compared to the feedback and manual control methods.

Advanced input shaping filter 3D virtual laboratory

“…Remind that input shaping filters are well known tools for reducing vibrations [5], [6]. The lab development process contains several automatic steps ensuring maximal compatibility with real-time control system.…”

Vibration Suppression Control of a Flexible Gantry Crane System with Varying Rope Length

“…Renowned for its simplicity in practical applications, input command shaping is one of the earliest attempts to crane control [1][2][3][4][5][6]. Maghsoudi et al combine input shaping with particle swarm based optimization for a 3D gantry crane control problem in [7].…”

Model Predictive Control for operator-in-the-loop overhead cranes

“…Input shaping techniques have been proposed for the anti-sway control of operator actuated cranes [37]- [39]. In [40] open loop techniques were shown to perform better than closed-loop PD control, with less energy consumption and low average completion time. The use of closed-loop techniques for the control of operator-in-the-loop overhead cranes is still an open issue [41].…”