An optimized non-linear input shaper for payload oscillation suppression of crane point-to-point maneuvers

Mohammed, Abdullah Zubair; Alghanim, Khalid; Andani, Mohsen Taheri

doi:10.1007/s40435-019-00536-7

Cited by 11 publications

(4 citation statements)

References 13 publications

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“…A. Mohammed et al (2019) suggested a method for controlling the input signal alongside a logic algorithm strategy for tuning the acceleration of a trolley. The polynomial function is defined as an input to accelerate the trolley to move the load along a certain trajectory that meets the system constraints while achieving the desired end conditions.…”

Section: Introductionmentioning

confidence: 99%

Dynamic analysis of the joint movement of the hoisting and slewing mechanisms of a boom crane

Loveikin,

Romasevych,

Kadykalo

2023

Tehnìka ta energetika

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To increase the productivity of boom cranes, the operation of individual mechanisms is combined. At the same time, dynamic loads on structural elements, drive mechanisms and loads on a flexible suspension increase, which reduces the reliability of crane operation and increases energy losses. Therefore, the research aims to consider the problem of the dynamics of the joint movement of the mechanisms for load slewing and hoisting of a boom crane. To study the dynamics of the joint movement of the mechanisms, the boom system was represented by a mechanical system with 6DOF, where the basic movement of the mechanisms and the oscillatory movement of the structural links with elastic and dissipative properties, as well as the load on a flexible suspension in the plane of crane slewing and hoisting were considered. For such a mechanical system of a crane, the differential equations of the joint motion of the crane slewing and hoisting mechanisms were developed. The obtained equations are a system of the second order nonlinear differential equations, for solving which a numerical method in the form of a computer program was used. Using the developed program, the dynamics of the joint movement of the mechanisms of a jib crane with specific numerical parameters were calculated. Based on the calculations, a dynamic analysis of the joint movement of the mechanisms for slewing and hoisting the load of a jib crane with a hoisting boom was carried out, which revealed high-frequency vibrations of links with elastic and dissipative properties, as well as low-frequency oscillations of the load on a flexible suspension. The greatest impact of oscillations is observed during the start-up of mechanisms, where high-frequency oscillations dampen during the transient process, and low-frequency oscillations dampen over a fairly significant period. To improve the dynamic properties of the mechanisms for turning and hoisting a load during their joint movement, it is proposed to optimise the mode of movement in the areas of transient processes (start-up, braking). The research results can be used in the development and operation of cranes in mechanical engineering, construction, and other industries

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Section: Introductionmentioning

confidence: 99%

Dynamic analysis of the joint movement of the hoisting and slewing mechanisms of a boom crane

Loveikin,

Romasevych,

Kadykalo

2023

Tehnìka ta energetika

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“…In contrast, some studies [3], [4], [13]- [16] focus on overhead crane systems of which the trolley is positioncontrolled. Such methods are practically more convenient because many industrial actuators are integrated with optimized high-gain position controllers.…”

Section: Introductionmentioning

confidence: 99%

Position-Commanding Anti-Sway Controller for 2-D Overhead Cranes Under Velocity and Acceleration Constraints

Nishimoto

Kikuuwe

2023

IEEE Access

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This paper proposes an anti-sway controller for two-dimensional overhead cranes. The controller is of the position-commanding type, i.e., it sends position commands to the position-controlled trolley, and it uses the sensor information of the payload sway angle. The position commands are determined so that the trolley tracks the desired position signal sent from an upper-level controller and also so that the payload sway is damped. The sway damping is realized by a leaky integral controller, which employs a high-pass filtered time integral of the sway angle. In addition, arbitrary limits can be imposed on the first and second derivatives of the position command, and thus it is applicable to cases where the desired position signal from the upper-level controller is nonsmooth or discontinuous. Due to these features, the controller is expected to be useful in both human-operated and autonomous systems. The controller was validated with a laboratory setup. This paper also presents an algorithm that can be attached to the proposed controller to prevent the overshoot, which can take place when the desired position signal is discontinuous.

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“…Distributed zero vibration (DZV) shapers were also formed by introducing a distributed delay for real-time crane control use cases [27]. Mohammed et al [28] studied the application of genetic algorithms to optimize the acceleration profiles for a nonlinear input shaper for a crane with strict motion and safety constraints. By optimizing the acceleration input, the optimized shaper provided a faster system response, while satisfying the system constraints.…”

Section: Introductionmentioning

confidence: 99%

An Adjustable Zero Vibration Input Shaping Control Scheme for Overhead Crane Systems

Mohammed

Alghanim

Andani³

2020

Shock and Vibration

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This article presents a modified zero vibration (ZV) input shaping technique to address the sensitivity and flexibility limitations of the classic ZV shapers commonly implemented in overhead crane applications. Starting with the classical ZV formulation, new parameters are introduced to optimize the control system performance according to a versatile objective function. The new shaper enhances the design flexibility and operational domain of the shaper, while it inherits the robustness properties and computational efficiency of the ZV scheme. Unlike the original ZV shaper, the proposed shaper allows for the point-to-point maneuver time to be fixed. The sensitivity analysis of the controller confirms that the new shaper effectively reduces the ZV sensitivity to the cable length variations.

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An optimized non-linear input shaper for payload oscillation suppression of crane point-to-point maneuvers

Cited by 11 publications

References 13 publications

Dynamic analysis of the joint movement of the hoisting and slewing mechanisms of a boom crane

Dynamic analysis of the joint movement of the hoisting and slewing mechanisms of a boom crane

Position-Commanding Anti-Sway Controller for 2-D Overhead Cranes Under Velocity and Acceleration Constraints

An Adjustable Zero Vibration Input Shaping Control Scheme for Overhead Crane Systems

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