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Comparative Study of Input Shaping with Different Polarities and Modes Selection in Hybrid Control Schemes of a DPTOC System

This paper presents a comparative assessment on input shaping techniques with different polarities and sways frequency modes in hybrid control schemes of a double-pendulum-type overhead crane (DPTOC) system. The hybrid control schemes consist of cart position trajectory tracking and sway control of...

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Main Authors: Mohd Zaidi, Mohd Tumari, Muhammad Salihin, Saealal, Kamarul Hawari, Ghazali, Mohd Riduwan, Ghazali
Format: Article
Language:English
Published: Medwell Journals 2012
Subjects:
QA Mathematics
Online Access:http://umpir.ump.edu.my/id/eprint/2718/1/IJSSCEA_5_13_published.pdf
http://umpir.ump.edu.my/id/eprint/2718/
http://www.medwelljournals.com/abstract/?doi=ijssceapp.2012.5.13
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spelling my.ump.umpir.27182018-02-08T04:36:11Z http://umpir.ump.edu.my/id/eprint/2718/ Comparative Study of Input Shaping with Different Polarities and Modes Selection in Hybrid Control Schemes of a DPTOC System Mohd Zaidi, Mohd Tumari Muhammad Salihin, Saealal Kamarul Hawari, Ghazali Mohd Riduwan, Ghazali QA Mathematics This paper presents a comparative assessment on input shaping techniques with different polarities and sways frequency modes in hybrid control schemes of a double-pendulum-type overhead crane (DPTOC) system. The hybrid control schemes consist of cart position trajectory tracking and sway control of a DPTOC system. A nonlinear DPTOC system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. The proposed method, known as the Single Input Fuzzy Logic Controller (SIFLC), reduces the conventional two-input FLC (CFLC) to a single input single output (SISO) controller. The SIFLC is developed for position control of cart movement. This is then extended to incorporate positive and negative input shaping schemes for both hook and load sway angle suppression. Both positive and negative input shaping with different modes selection is designed based on the properties of the system. The results of the response with the controllers are presented in time and frequency domains. The performances of control schemes are examined in terms of level of input tracking capability, sway angle reduction and time response specifications in comparison to SIFLC controller. Finally, a comparative assessment of the control techniques is discussed and presented. Medwell Journals 2012 Article PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/2718/1/IJSSCEA_5_13_published.pdf Mohd Zaidi, Mohd Tumari and Muhammad Salihin, Saealal and Kamarul Hawari, Ghazali and Mohd Riduwan, Ghazali (2012) Comparative Study of Input Shaping with Different Polarities and Modes Selection in Hybrid Control Schemes of a DPTOC System. International Journal of Systems Signal Control and Engineering Application, 5 (6). pp. 5-13. ISSN 1997-5422 http://www.medwelljournals.com/abstract/?doi=ijssceapp.2012.5.13
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 QA Mathematics
spellingShingle QA Mathematics
Mohd Zaidi, Mohd Tumari
Muhammad Salihin, Saealal
Kamarul Hawari, Ghazali
Mohd Riduwan, Ghazali
Comparative Study of Input Shaping with Different Polarities and Modes Selection in Hybrid Control Schemes of a DPTOC System
description This paper presents a comparative assessment on input shaping techniques with different polarities and sways frequency modes in hybrid control schemes of a double-pendulum-type overhead crane (DPTOC) system. The hybrid control schemes consist of cart position trajectory tracking and sway control of a DPTOC system. A nonlinear DPTOC system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. The proposed method, known as the Single Input Fuzzy Logic Controller (SIFLC), reduces the conventional two-input FLC (CFLC) to a single input single output (SISO) controller. The SIFLC is developed for position control of cart movement. This is then extended to incorporate positive and negative input shaping schemes for both hook and load sway angle suppression. Both positive and negative input shaping with different modes selection is designed based on the properties of the system. The results of the response with the controllers are presented in time and frequency domains. The performances of control schemes are examined in terms of level of input tracking capability, sway angle reduction and time response specifications in comparison to SIFLC controller. Finally, a comparative assessment of the control techniques is discussed and presented.
format Article
author Mohd Zaidi, Mohd Tumari
Muhammad Salihin, Saealal
Kamarul Hawari, Ghazali
Mohd Riduwan, Ghazali
author_facet Mohd Zaidi, Mohd Tumari
Muhammad Salihin, Saealal
Kamarul Hawari, Ghazali
Mohd Riduwan, Ghazali
author_sort Mohd Zaidi, Mohd Tumari
title Comparative Study of Input Shaping with Different Polarities and Modes Selection in Hybrid Control Schemes of a DPTOC System
title_short Comparative Study of Input Shaping with Different Polarities and Modes Selection in Hybrid Control Schemes of a DPTOC System
title_full Comparative Study of Input Shaping with Different Polarities and Modes Selection in Hybrid Control Schemes of a DPTOC System
title_fullStr Comparative Study of Input Shaping with Different Polarities and Modes Selection in Hybrid Control Schemes of a DPTOC System
title_full_unstemmed Comparative Study of Input Shaping with Different Polarities and Modes Selection in Hybrid Control Schemes of a DPTOC System
title_sort comparative study of input shaping with different polarities and modes selection in hybrid control schemes of a dptoc system
publisher Medwell Journals
publishDate 2012
url http://umpir.ump.edu.my/id/eprint/2718/1/IJSSCEA_5_13_published.pdf
http://umpir.ump.edu.my/id/eprint/2718/
http://www.medwelljournals.com/abstract/?doi=ijssceapp.2012.5.13
_version_ 1643664686824030208
score 13.211869

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