Simulink® implementation and industrial test of Input Shaping techniques

Piedrafita, Ramón; Comín, Diego; Beltrán, José Ramón

doi:10.1016/j.conengprac.2018.06.021

Cited by 16 publications

(5 citation statements)

References 23 publications

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“…Crane dynamic model has been an important research area over the years for controller design [4,13,22,25]. Because the crane controller needs to quickly move the trolley at the same time it decreases undesirable fluctuations of the payload, a model that describes crane dynamics is very important to understand how the relationship between the trolley movement and the payload swing works.…”

Section: Gantry Crane Dynamicsmentioning

confidence: 99%

“…About open loop schemes, they are easy to implement and less costly, since there is no need for sway angle or cart position sensors. Among them, the input shaping was widely used by researchers, being present in several works [13][14][15]. Despite being an efficient feed-forward control, it has as main drawback the sensitive to external disturbance.…”

Section: Introductionmentioning

confidence: 99%

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Explicit GPC Control Applied to an Approximated Linearized Crane System

Fonseca

Dantas

Dórea

et al. 2019

Journal of Control Science and Engineering

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This paper proposes a MIMO Explicit Generalized Predictive Control (EGPC) for minimizing payload oscillation of a Gantry Crane System subject to input and output constraints. In order to control the crane system efficiently, the traditional GPC formulation, based on online Quadratic Programming (QP), is rewritten as a multiparametric quadratic programming problem (mp-QP). An explicit Piecewise Affine (PWA) control law is obtained and holds the same performance as online QP. To test effectiveness, the proposed method is compared with two GPC formulations: one that handle constraints (CGPC) and another that does not handle constraints (UGPC). Results show that both EGPC and CGPC have better performance, reducing the payload swing when compared to UGPC. Also both EGPC and CGPC are able to control the system without constraint violation. When comparing EGPC to CGPC, the first is able to calculate (during time step) the control action faster than the second. The simulations prove that the overall performance of EGPC is superior to the other used formulations.

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Section: Gantry Crane Dynamicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Explicit GPC Control Applied to an Approximated Linearized Crane System

Fonseca

Dantas

Dórea

et al. 2019

Journal of Control Science and Engineering

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“…The underactuated characteristics of the overhead crane make it more difficult to control. At present, some open-loop methods, such as input shaping [1][2][3] and trajectory planning [4,5], and closed-loop methods, such as sliding mode control [6][7][8], linear quadratic regulator (LQR) control [9][10][11], model predictive control [12][13][14], and proportional-integralderivative (PID) control [15][16][17], have been proposed to solve the crane's antisway control problem. The design difficulty mainly lies in how to achieve the control of the swing angle when the input dimension is smaller than the output dimension.…”

Section: Introductionmentioning

confidence: 99%

Flatness-Based Backstepping Antisway Control of Underactuated Crane Systems under Wind Disturbance

Niu

2023

Electronics

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A control method that combines trajectory planning and backstepping is proposed for the antisway problem of underactuated overhead cranes under wind disturbance. First, a set of flat outputs is proposed so that the crane system dynamics can be represented by each order of flat outputs. Sufficient relevant constraints are given to ensure that the trolley can arrive at the desired position in a limited time under variable rope lengths, and that the swing angle can be suppressed when the payload is lifted or lowered during operation. The planned trajectory is obtained by solving for the optimal parameters of the flat output. Next, to reduce the deviation caused by wind disturbance on the actual control of the trajectory, a tracking controller is designed. Because the system output space and flat output space are differentiable homeomorphisms, the backstepping controller constructed based on the flat output can indirectly control the system output, which makes the backstepping method applicable to underactuated cranes. The simulation results show that the proposed method is effective and has strong robustness.

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“…A very similar dynamics system is the gantry crane. One of the popular ways to reduce the residual payload vibration is to apply the input shaping techniques, which was used in quadrotors in [ 4 ] and in gantry cranes in [ 32 , 33 ].…”

Section: Introductionmentioning

confidence: 99%