Staff View: Comparing the performance of sway control using ZV input shaper and LQR on gantry cranes

Comparing the performance of sway control using ZV input shaper and LQR on gantry cranes

This paper presents the investigation into the performance of ZV input shaper and LQR for sway control of a non linear gantry crane systems. The non linear model of the system was derived using the Lagrangian energy equation and then linearized using Taylor's series expansion. ZV input shaper w...

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Main Authors:	Alhassan, Ahmad, Danapalasingam, Kumeresan A., Shehu, Muhammad, Abdullahi, Auwalu M., Shehu, Auwal
Format:	Conference or Workshop Item
Published:	2015
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/60827/ http://ieeexplore.ieee.org/document/7725299/
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id	my.utm.60827
record_format	eprints
spelling	my.utm.608272017-03-01T06:54:02Z http://eprints.utm.my/id/eprint/60827/ Comparing the performance of sway control using ZV input shaper and LQR on gantry cranes Alhassan, Ahmad Danapalasingam, Kumeresan A. Shehu, Muhammad Abdullahi, Auwalu M. Shehu, Auwal TK Electrical engineering. Electronics Nuclear engineering This paper presents the investigation into the performance of ZV input shaper and LQR for sway control of a non linear gantry crane systems. The non linear model of the system was derived using the Lagrangian energy equation and then linearized using Taylor's series expansion. ZV input shaper was proposed using the estimated natural frequency and damping ratio of the system. LQR was also designed by selecting appropriate performance index to the system. Performances of the controllers are assesses based on time response specifications and level of oscillation reduction. MATLAB simulation results of the system subjected to a pulse input torque shows that LQR was more effective and reliable 2015 Conference or Workshop Item PeerReviewed Alhassan, Ahmad and Danapalasingam, Kumeresan A. and Shehu, Muhammad and Abdullahi, Auwalu M. and Shehu, Auwal (2015) Comparing the performance of sway control using ZV input shaper and LQR on gantry cranes. In: Asia Modelling Symposium 2015: 9th International Conference on Mathematical Modelling and Computer Simulati0N, 7-9 Sept, 2015, Kuala Lumpur, Malaysia. http://ieeexplore.ieee.org/document/7725299/
institution	Universiti Teknologi Malaysia
building	UTM Library
collection	Institutional Repository
continent	Asia
country	Malaysia
content_provider	Universiti Teknologi Malaysia
content_source	UTM Institutional Repository
url_provider	http://eprints.utm.my/
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Alhassan, Ahmad Danapalasingam, Kumeresan A. Shehu, Muhammad Abdullahi, Auwalu M. Shehu, Auwal Comparing the performance of sway control using ZV input shaper and LQR on gantry cranes
description	This paper presents the investigation into the performance of ZV input shaper and LQR for sway control of a non linear gantry crane systems. The non linear model of the system was derived using the Lagrangian energy equation and then linearized using Taylor's series expansion. ZV input shaper was proposed using the estimated natural frequency and damping ratio of the system. LQR was also designed by selecting appropriate performance index to the system. Performances of the controllers are assesses based on time response specifications and level of oscillation reduction. MATLAB simulation results of the system subjected to a pulse input torque shows that LQR was more effective and reliable
format	Conference or Workshop Item
author	Alhassan, Ahmad Danapalasingam, Kumeresan A. Shehu, Muhammad Abdullahi, Auwalu M. Shehu, Auwal
author_facet	Alhassan, Ahmad Danapalasingam, Kumeresan A. Shehu, Muhammad Abdullahi, Auwalu M. Shehu, Auwal
author_sort	Alhassan, Ahmad
title	Comparing the performance of sway control using ZV input shaper and LQR on gantry cranes
title_short	Comparing the performance of sway control using ZV input shaper and LQR on gantry cranes
title_full	Comparing the performance of sway control using ZV input shaper and LQR on gantry cranes
title_fullStr	Comparing the performance of sway control using ZV input shaper and LQR on gantry cranes
title_full_unstemmed	Comparing the performance of sway control using ZV input shaper and LQR on gantry cranes
title_sort	comparing the performance of sway control using zv input shaper and lqr on gantry cranes
publishDate	2015
url	http://eprints.utm.my/id/eprint/60827/ http://ieeexplore.ieee.org/document/7725299/
_version_	1643654989275463680
score	13.211869

Comparing the performance of sway control using ZV input shaper and LQR on gantry cranes

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