Command shaping boom crane control system with nonlinear inputs

Parker, Gordon G.; Groom, K.; Hurtado, Johnny; Robinett, Rush D.; Leban, F.

doi:10.1109/cca.1999.801240

Cited by 21 publications

(9 citation statements)

References 2 publications

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“…The designer hopes that residual vibration ranged from v m1 to v m2 can be suppressed below a tolerable level, V tol . Then, solving equations (11)…”

Section: Cf For Vibration Reductionmentioning

confidence: 99%

“…The advantage of fuzzy-tuned PID control, compared with original PID control, is robustness to changing parameters. 5 Input shaping can effectively reduce the oscillatory dynamics of many types of systems, including bridge cranes, 6,7 tower cranes, 8,9 boom cranes, 10,11 container cranes, 12 coordinate measurement machines, 13,14 spacecrafts, 15,16 robotic arms, 17,18 robotic workcells, 19 demining robots, 20 micromilling machines, 21 nanopositioning stages, 22 and linear step motors. 23 The shaping process is demonstrated as follows.…”

Section: Introductionmentioning

confidence: 99%

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Using continuous function to generate shaped command for vibration reduction

Xie

Huang

Liang

2013

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article describes a continuous function for limiting vibration in flexible systems by convolving the original command to the system. Unlike previous command shaping strategies, a continuous function shapes the original command to suppress vibration. The effectiveness of this method for robustness is explored and quantified. The theoretic analysis shows that this method has more insensitivity at higher frequencies. However, the robust input shaper gets more insensitive at lower frequencies. Experimental results for a planar bridge crane validate the simulated dynamic behavior and the effectiveness of the continuous function.

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“…The designer hopes that residual vibration ranged from v m1 to v m2 can be suppressed below a tolerable level, V tol . Then, solving equations (11)…”

Section: Cf For Vibration Reductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Using continuous function to generate shaped command for vibration reduction

Xie

Huang

Liang

2013

Proceedings of the Institution of Mechanical Engineers, Part I:

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show abstract

“…Numerical simulation and experimental verification of this strategy on an actual bidirectional crane, moving at arbitrary step accelerations and changing cable length at a slow constant rate, showed that the strategy was able to suppress residual payload oscillation. Parker et al [8] developed a command shaping notch filter to reduce payload oscillation on rotary cranes excited by the operator commands. They reported that in general, there was no guarantee that applying such a filter to the operator's speed commands would result in excitation terms having the desired frequency content, and that it only works for low speed and acceleration commands.…”

Section: Introductionmentioning

confidence: 99%

Effect of hoisting cable elasticity on anti-sway controllers of quay-side container cranes

Masoud

2009

Nonlinear Dyn

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Oscillation frequency of crane payloads is the main and most important factor in crane anti-sway control systems design. In the summer of 2005, a Smart Sway Control system (SSC) was installed on a 65-ton quay-side container crane at Jeddah Port. During the calibration phase of the installation, it was observed that heavy payloads combined with the dynamic stretch of the hoist cables had a significant impact on the configuration of the hoisting mechanism and the pattern of oscillation. This introduced considerable change in the oscillation frequency of the payload, which resulted in a significant impact on the performance of the anti-sway control system. Empirical formulas had to be used to compensate for the change in the frequency approximation used in the controller algorithm. In this work, an analytic approximation of the oscillation frequency of the hoisting mechanism of a quay-side container crane is developed, which takes into consideration the elasticity of the hoisting cables. A parametric study is performed to investigate the extent of the effect of the hoisting cables stretch on the system behavior for a typical range of payload masses and cable lengths. The performance of the delayed feedback control system used in the SSC controller is Z.N. Masoud ( ) simulated on an elastic cables model using both the elastic and rigid cable frequency approximations.

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“…Parker et al [13] developed a command shaping notch filter to reduce payload oscillation on rotary cranes excited by the operator commands. They reported that in general, there was no guarantee that applying such filter to the operator's speed commands would result in excitation terms having the desired frequency content, and that it only works for small speed and acceleration commands.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Input-Shaping Controller for Quay-Side Container Cranes

Daqaq

Masoud

2006

Nonlinear Dyn

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Input-shaping is one of the most practical open-loop control strategies for gantry cranes, especially those having predefined paths and operating at constant cable lengths. However, when applied to quay-side container cranes, its performance is far from satisfactory. A major source of the poor performance can be linked to the significant difference between the gantry crane model and the quay-side container crane model. Gantry cranes are traditionally modeled as a simple pendulum. However, a quay-side container crane has a multi-cable hoisting mechanism.In this paper, a two-dimensional four-bar-mechanism model of a container crane is developed. For the purpose of controller design, the crane model is reduced to a double pendulum with two fixed-length links and a kinematic constraint. The method of multiple scales is used to develop a nonlinear approximation of the oscillation frequency of the simplified model. The resulting frequency approximation is used to determine the switching times for a bang-off-bang input-shaping controller. The performance of the controller is numerically simulated on the full model of the container crane, and is compared to the performance of similar controllers based on a nonlinear frequency approximation of a simple pendulum and a linear frequency approximation of a constraint double pendulum. Results demonstrate a superior performance of the controller based on the nonlinear frequency approximation of the constraint double pendulum.The effect of the oscillation frequency on the controller performance is investigated by varying the model's frequency around the design value. Simulations revealed that the performance of the controller suffers serious degradation due to small changes in the model frequency. To alleviate the shortcomings of the input-shaping controller, a delayed-position feedback controller is successfully applied at the end of each transfer maneuver to eliminate residual oscillations without affecting the commands of the input-shaping controller.

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Command shaping boom crane control system with nonlinear inputs

Cited by 21 publications

References 2 publications

Using continuous function to generate shaped command for vibration reduction

Using continuous function to generate shaped command for vibration reduction

Effect of hoisting cable elasticity on anti-sway controllers of quay-side container cranes

Nonlinear Input-Shaping Controller for Quay-Side Container Cranes

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