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Control of a multimode double-pendulum overhead crane system using input shaping controllers

This paper investigates the impact of higher derivative input shaping for minimizing both oscillations, namely hook and payload of a multimode double-pendulum overhead crane (MDPOC) system. The MDPOC has greater nonlinearities and stronger internal couplings, especially when involving two oscillatio...

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Main Authors: Jaafar, Hazriq Izzuan, Syed Hussien, Sharifah Yuslinda, Ghazali, Rozaimi, Ramli, Liyana, Johari, Mohd Khairul Azizat
Format: Article
Language:English
Published: Association for Scientific Computing Electronics and Engineering 2024
Online Access:http://eprints.utem.edu.my/id/eprint/28184/2/0199916092024131111144.pdf
http://eprints.utem.edu.my/id/eprint/28184/
https://pubs2.ascee.org/index.php/IJRCS/article/view/1520/pdf
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spelling my.utem.eprints.281842025-01-06T10:46:44Z http://eprints.utem.edu.my/id/eprint/28184/ Control of a multimode double-pendulum overhead crane system using input shaping controllers Jaafar, Hazriq Izzuan Syed Hussien, Sharifah Yuslinda Ghazali, Rozaimi Ramli, Liyana Johari, Mohd Khairul Azizat This paper investigates the impact of higher derivative input shaping for minimizing both oscillations, namely hook and payload of a multimode double-pendulum overhead crane (MDPOC) system. The MDPOC has greater nonlinearities and stronger internal couplings, especially when involving two oscillation frequencies with multimode dynamic effects. With a suitable system’s natural frequency and damping ratio of the hook and payload oscillations, multimode zero-vibration (ZV-ZV), multimode zero-vibration derivative (ZVD-ZVD) and multimode zero-vibration derivative-derivative (ZVDD-ZVDD) shapers are successfully designed. More interestingly, two scenarios under a fixed cable length and a payload hoisting are considered which are closer to the real practical crane. Thus, an average travel length (ATL)-based shaper method is also considered to further verify the effectiveness and robustness of efficient hook and payload oscillation control under payload hoisting. All the multimode input shaping is simulated using the Matlab software. The simulation results of multimode ZVDD-ZVDD shaper successfully reduced in the overall hook and payload oscillations by 97.9% and 97.2%, respectively, compared to the unshaped system, whereas the multimode ATL-ZVDD shaper reduced hook and payload oscillations by 94.8% and 94.0%, respectively. In fact, the multimode ZVDD-ZVDD and multimode ATL-ZVDD shapers demonstrate the superiority in minimizing the hook and payload oscillations compared to the multimode ZV-ZV, multimode ZVD-ZVD, ATL-ZV and ATL-ZVD shapers. This significant reduction in oscillations enhances the precision and safety of real-world crane operations in industrial settings. It has been proven that considering the additional derivative of input shaping results in a higher level of hook and payload oscillations reduction. Association for Scientific Computing Electronics and Engineering 2024-08 Article PeerReviewed text en http://eprints.utem.edu.my/id/eprint/28184/2/0199916092024131111144.pdf Jaafar, Hazriq Izzuan and Syed Hussien, Sharifah Yuslinda and Ghazali, Rozaimi and Ramli, Liyana and Johari, Mohd Khairul Azizat (2024) Control of a multimode double-pendulum overhead crane system using input shaping controllers. International Journal of Robotics and Control Systems, 4 (3). pp. 1490-1505. ISSN 2775-2658 https://pubs2.ascee.org/index.php/IJRCS/article/view/1520/pdf 10.31763/ijrcs.v4i3.1520
institution Universiti Teknikal Malaysia Melaka
building UTEM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknikal Malaysia Melaka
content_source UTEM Institutional Repository
url_provider http://eprints.utem.edu.my/
language English
description This paper investigates the impact of higher derivative input shaping for minimizing both oscillations, namely hook and payload of a multimode double-pendulum overhead crane (MDPOC) system. The MDPOC has greater nonlinearities and stronger internal couplings, especially when involving two oscillation frequencies with multimode dynamic effects. With a suitable system’s natural frequency and damping ratio of the hook and payload oscillations, multimode zero-vibration (ZV-ZV), multimode zero-vibration derivative (ZVD-ZVD) and multimode zero-vibration derivative-derivative (ZVDD-ZVDD) shapers are successfully designed. More interestingly, two scenarios under a fixed cable length and a payload hoisting are considered which are closer to the real practical crane. Thus, an average travel length (ATL)-based shaper method is also considered to further verify the effectiveness and robustness of efficient hook and payload oscillation control under payload hoisting. All the multimode input shaping is simulated using the Matlab software. The simulation results of multimode ZVDD-ZVDD shaper successfully reduced in the overall hook and payload oscillations by 97.9% and 97.2%, respectively, compared to the unshaped system, whereas the multimode ATL-ZVDD shaper reduced hook and payload oscillations by 94.8% and 94.0%, respectively. In fact, the multimode ZVDD-ZVDD and multimode ATL-ZVDD shapers demonstrate the superiority in minimizing the hook and payload oscillations compared to the multimode ZV-ZV, multimode ZVD-ZVD, ATL-ZV and ATL-ZVD shapers. This significant reduction in oscillations enhances the precision and safety of real-world crane operations in industrial settings. It has been proven that considering the additional derivative of input shaping results in a higher level of hook and payload oscillations reduction.
format Article
author Jaafar, Hazriq Izzuan
Syed Hussien, Sharifah Yuslinda
Ghazali, Rozaimi
Ramli, Liyana
Johari, Mohd Khairul Azizat
spellingShingle Jaafar, Hazriq Izzuan
Syed Hussien, Sharifah Yuslinda
Ghazali, Rozaimi
Ramli, Liyana
Johari, Mohd Khairul Azizat
Control of a multimode double-pendulum overhead crane system using input shaping controllers
author_facet Jaafar, Hazriq Izzuan
Syed Hussien, Sharifah Yuslinda
Ghazali, Rozaimi
Ramli, Liyana
Johari, Mohd Khairul Azizat
author_sort Jaafar, Hazriq Izzuan
title Control of a multimode double-pendulum overhead crane system using input shaping controllers
title_short Control of a multimode double-pendulum overhead crane system using input shaping controllers
title_full Control of a multimode double-pendulum overhead crane system using input shaping controllers
title_fullStr Control of a multimode double-pendulum overhead crane system using input shaping controllers
title_full_unstemmed Control of a multimode double-pendulum overhead crane system using input shaping controllers
title_sort control of a multimode double-pendulum overhead crane system using input shaping controllers
publisher Association for Scientific Computing Electronics and Engineering
publishDate 2024
url http://eprints.utem.edu.my/id/eprint/28184/2/0199916092024131111144.pdf
http://eprints.utem.edu.my/id/eprint/28184/
https://pubs2.ascee.org/index.php/IJRCS/article/view/1520/pdf
_version_ 1821007591282573312
score 13.244413

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