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Investigations Of NCTF With Input Shaping For Sway Control Of A Double-Pendulum-Type Overhead Crane

This paper presents investigations into the development of hybrid control schemes for trajectory tracking and anti-swaying control of a double-pendulum-type overhead crane (DPTOC) system. A nonlinear DPTOC system is considered and the dynamic model of the system is derived using the Euler-Lagrange f...

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Main Authors: Mohd Ashraf, Ahmad, Raja Mohd Taufika, Raja Ismail, Mohd Syakirin, Ramli
Format: Conference or Workshop Item
Language:English
Published: 2010
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://umpir.ump.edu.my/id/eprint/2435/2/Investigations_of_NCTF_with_input_shaping_for_sway_control_of_a_Double-Pendulum-Type_Overhead_Crane_%281%29.pdf
http://umpir.ump.edu.my/id/eprint/2435/
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5486817
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spelling my.ump.umpir.24352018-02-06T01:03:15Z http://umpir.ump.edu.my/id/eprint/2435/ Investigations Of NCTF With Input Shaping For Sway Control Of A Double-Pendulum-Type Overhead Crane Mohd Ashraf, Ahmad Raja Mohd Taufika, Raja Ismail Mohd Syakirin, Ramli TK Electrical engineering. Electronics Nuclear engineering This paper presents investigations into the development of hybrid control schemes for trajectory tracking and anti-swaying control of a double-pendulum-type overhead crane (DPTOC) system. A nonlinear DPTOC system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. To study the effectiveness of the controllers, initially nominal characteristics following trajectory following (NCTF) is developed for position control of cart movement. The controller design, which is comprised of a nominal characteristic trajectory (NCT) and PI compensator, is used to make the cart motion follow the NCT. This is then extended to incorporate input shaping schemes for anti-swaying control of the system. The positive input shaper with different orders was design based on properties of the system. The results of the response with the controllers are presented in time and frequency domains. The performances of hybrid control schemes are examined in terms of level of input tracking capability, sway angle reduction and time response specifications in comparison to NCTF controller. Finally, a comparative assessment of the control techniques is discussed and presented. 2010 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/2435/2/Investigations_of_NCTF_with_input_shaping_for_sway_control_of_a_Double-Pendulum-Type_Overhead_Crane_%281%29.pdf Mohd Ashraf, Ahmad and Raja Mohd Taufika, Raja Ismail and Mohd Syakirin, Ramli (2010) Investigations Of NCTF With Input Shaping For Sway Control Of A Double-Pendulum-Type Overhead Crane. In: 2nd IEEE International Conference on Advanced Computer Control, ICACC 2010, 27-29 March 2010 , Shenyang. pp. 456-461.. http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5486817
institution Universiti Malaysia Pahang
building UMP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Pahang
content_source UMP Institutional Repository
url_provider http://umpir.ump.edu.my/
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Mohd Ashraf, Ahmad
Raja Mohd Taufika, Raja Ismail
Mohd Syakirin, Ramli
Investigations Of NCTF With Input Shaping For Sway Control Of A Double-Pendulum-Type Overhead Crane
description This paper presents investigations into the development of hybrid control schemes for trajectory tracking and anti-swaying control of a double-pendulum-type overhead crane (DPTOC) system. A nonlinear DPTOC system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. To study the effectiveness of the controllers, initially nominal characteristics following trajectory following (NCTF) is developed for position control of cart movement. The controller design, which is comprised of a nominal characteristic trajectory (NCT) and PI compensator, is used to make the cart motion follow the NCT. This is then extended to incorporate input shaping schemes for anti-swaying control of the system. The positive input shaper with different orders was design based on properties of the system. The results of the response with the controllers are presented in time and frequency domains. The performances of hybrid control schemes are examined in terms of level of input tracking capability, sway angle reduction and time response specifications in comparison to NCTF controller. Finally, a comparative assessment of the control techniques is discussed and presented.
format Conference or Workshop Item
author Mohd Ashraf, Ahmad
Raja Mohd Taufika, Raja Ismail
Mohd Syakirin, Ramli
author_facet Mohd Ashraf, Ahmad
Raja Mohd Taufika, Raja Ismail
Mohd Syakirin, Ramli
author_sort Mohd Ashraf, Ahmad
title Investigations Of NCTF With Input Shaping For Sway Control Of A Double-Pendulum-Type Overhead Crane
title_short Investigations Of NCTF With Input Shaping For Sway Control Of A Double-Pendulum-Type Overhead Crane
title_full Investigations Of NCTF With Input Shaping For Sway Control Of A Double-Pendulum-Type Overhead Crane
title_fullStr Investigations Of NCTF With Input Shaping For Sway Control Of A Double-Pendulum-Type Overhead Crane
title_full_unstemmed Investigations Of NCTF With Input Shaping For Sway Control Of A Double-Pendulum-Type Overhead Crane
title_sort investigations of nctf with input shaping for sway control of a double-pendulum-type overhead crane
publishDate 2010
url http://umpir.ump.edu.my/id/eprint/2435/2/Investigations_of_NCTF_with_input_shaping_for_sway_control_of_a_Double-Pendulum-Type_Overhead_Crane_%281%29.pdf
http://umpir.ump.edu.my/id/eprint/2435/
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5486817
_version_ 1643664615917223936
score 13.211869

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