Effects of hoisting on the input shaping control of gantry cranes

Singhose, William; Porter, Lisa J.; Kenison, Michael; Kriikku, E.

doi:10.1016/s0967-0661(00)00054-x

Cited by 260 publications

(113 citation statements)

References 18 publications

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“…The swing induced by the first part of the command is canceled by the swing induced by the following part of the command. Input shaping is implemented in real time by convolving the command signal with an impulse sequence [26]. Note that optimal control and input shaping are not suitable for some applications with large system uncertainties and external disturbances as they do not have closed-loop mechanisms.…”

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confidence: 99%

Model predictive control for improving operational efficiency of overhead cranes

2014

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Model predictive control (MPC) has been successfully applied to many transportation systems. For the control of overhead cranes, existing MPC approaches mainly focus on improving the regulation performance, such as tracking error or steady-state error. In this paper, energy efficiency as well as safety is newly considered in our proposed MPC approach. Based on the system model designed, the MPC approach is applied to minimize an objective function that is formulated as the integration of energy consumption and swing angle. In our approach, promising results in terms of low energy consumption and small swing angle can be found, whilst the solutions obtained can satisfy all practical constraints. Our test results indicate that the MPC approach can ensure stability and robustness of improving energy efficiency and safety.

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confidence: 99%

Model predictive control for improving operational efficiency of overhead cranes

2014

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“…The combined ZV acceleration command with the FM feedback and the corresponding jib velocity are shown in Figure 5(c). A comparison of the payload response oscillation angle using the ZV-based FM shaper and a ZV shaper designed for the average oscillation frequency of the maneuver [17] is presented in Figure 5 The same maneuver is repeated using the ZVD primary input shaper in (12). Figure 6 shows the same satisfactory performance as in the case of the ZV primary input shaper, Figure 5.…”

Section: Numerical Simulationsmentioning

confidence: 81%

“…This results in a large time penalty. Implementing constant length input shapers in maneuvers that involve hoisting can lower the residual vibrations but cannot eliminate them [17]. However, research has been published that includes simultaneous travel and hoist in command shaping.…”

Section: Shock and Vibrationmentioning

confidence: 99%

Simultaneous Travel and Hoist Maneuver Input Shaping Control Using Frequency Modulation

Arabasi

Masoud

2017

Shock and Vibration

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This paper presents an input shaping control system for overhead crane operations involving simultaneous hoist and travel maneuvers. The control system utilizes model-based partial feedback linearization with frequency modulation. Traditional input shaping controllers target specific system frequencies. Therefore, they are incapable of accommodating the time dependant frequency associated with simultaneous hoist and travel crane maneuvers. Frequency modulation is used to tune the timedependent system frequency to the design frequency of a primary input shaping controller. Partial feedback linearization is used to eliminate the time-dependent damping of the system. The primary input shaper frequency is based on lowest operating frequency of the system associated with the longest hoisting cable length operation. Simulations results, using primary zero-vibration (ZV) and zero-vibration-derivative (ZVD) input shapers, are presented. General arbitrary input travel and hoist commands are simulated. Results demonstrate the ability of the proposed control system to eliminate residual oscillations in all simulated cases.

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“…Various kinds of crane control techniques have been applied from classical methods such as linear control [1], nonlinear control [2,5,6], optimal approach [7], adaptive algorithms [8,9] to modern techniques such as fuzzy logic [3,4,10], neural network [11], command shaping [12], and so on.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Control of Flexible Two-Dimensional Overhead Cranes

Nguyễn¹,

Duong²

2018

Adaptive Robust Control Systems

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Considering gantry cable as an elastic string having a distributed mass, we constitute a dynamic model for coupled flexural overhead cranes by using the extended Hamilton principle. Two kinds of nonlinear controllers are proposed based on the Lyapunov stability and its improved version entitled barrier Lyapunov candidate to maintain payload motion in a certain defined range. With such a continuously distributed model, the finite difference method is utilized to numerically simulate the control system. The results show that the controllers work well and the crane system is stabilized.

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Effects of hoisting on the input shaping control of gantry cranes

Cited by 260 publications

References 18 publications

Model predictive control for improving operational efficiency of overhead cranes

Model predictive control for improving operational efficiency of overhead cranes

Simultaneous Travel and Hoist Maneuver Input Shaping Control Using Frequency Modulation

Nonlinear Control of Flexible Two-Dimensional Overhead Cranes

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