Input Shaping Techniques for Sway Control of a Rotary Crane System

Abstract

This paper investigates the performance of input shaping techniques for sway control of a rotary crane system. Unlike the conventional optimal controllers, input shaping is simple to design and cost effective as it does not require feedback sensors. Several input shapers were implemented and their performances were compared which are useful for future sway control designs. A nonlinear model of the system was derived using the Lagrange’s energy equation. To investigate the performance and robustness of input shaping techniques, zero vibration (ZV), zero vibration derivative (ZVD), zero vibration derivative-derivative (ZVDD) and zero vibration derivative-derivative-derivative (ZVDDD) were proposed with a constant cable dimension. Level of reduction of the payload sway was used to assess the control performance of the shapers. Simulation and real time experimental results have shown that ZVDDD with an average sway reduction of 88% has the highest level of sway reduction and robustness to modeling errors as compared to 85%, 80% and 65% for ZVDD, ZVD and ZV respectively.

Investigation of Aerodynamic Stability of a Lightweight Dual‐Arm Power Transmission Line Inspection Robot under the Influence of Wind

“…Furthermore, the required linear force f r capable of moving the whole robot a distance c along the power line can be determined. e general Lagrangian formulation of equation 1given in [55] was used for deriving the joint equations of the robot, where m i is the mass of ith coordinates, Q i is the summation of the ith nonconservative forces, and q i is the ith generalized independent point for n number of coordinates. T and U denote the total kinetic and potential energies of the system, respectively.…”

UM Shaper Command Inputs for CRONE Control: Application on a DC Motor Bench

“…Input shaping strategy constitutes a key issue for reducing residual vibrations in motion control systems, based on its robustness and effectiveness [1,2]. Singer and Seering are the pioneers by proposing a practical input shaping scheme for flexible structures [2,3]. It is an open-loop control approach, implemented by convolving a train of impulses with any desired command profile, to generate the shaped reference command used to drive the system [1].…”

“…It is an open-loop control approach, implemented by convolving a train of impulses with any desired command profile, to generate the shaped reference command used to drive the system [1]. However, open-loop controllers are subject of external disturbances; thus, input shaping is used in conjunction with feedback control to ensure good efficiency [3]. e design of shapers is achieved by determining timing instants and amplitudes of the impulses, depending on the natural frequency and the damping ratio of the vibratory system, and by solving a set of constraint equations [2,4].…”

“…Robustness is strengthened by adding derivative constraints, inducing a new impulse for each order: Zero Vibration Derivative (ZVD) and Zero Vibration Derivative Derivative (ZVDD) [6]. ese different options have been already implemented on industrial systems [7] such as flexible robot manipulators, rotary cranes [3], and flexible beams.…”

Use of balancing rope for damping of cargo sways moved by a loading crane

“…Решению данной проблемы посвящено множество работ российских авторов [1,7,8] и зарубежных исследователей [9][10][11]. Данная проблема актуальная для всех видов грузоподъемных кранов с нежестким канатным подвесом: мостовых [12-14], козловых [15], поворотных с телескопической стрелой [16,17], контейнерных [18], судовых [19], башенных [20,21] и крановтрубоукладчиков [22,23].…”