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Output-based command shaping technique for an effective payload sway control of a 3D crane with hoisting

This paper presents an output-based command shaping (OCS) technique for an effective payload sway control of a 3D crane with hoisting. A crane is a challenging and time-varying system, as the cable length changes during the operation. The OCS technique is designed based on output signals of an actua...

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Main Authors:	Abdullahi, A. M., Mohamed, Z., Zainal Abidin, M. S., Buyamin, S., Bature, A. A.
Format:	Article
Published:	SAGE Publications Ltd 2017
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/75616/ https://www.scopus.com/inward/record.uri?eid=2-s2.0-85032390398&doi=10.1177%2f0142331216640871&partnerID=40&md5=3ddaeb511a54abd704f5c42322f110e0
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spelling	my.utm.756162018-04-27T01:37:09Z http://eprints.utm.my/id/eprint/75616/ Output-based command shaping technique for an effective payload sway control of a 3D crane with hoisting Abdullahi, A. M. Mohamed, Z. Zainal Abidin, M. S. Buyamin, S. Bature, A. A. TK Electrical engineering. Electronics Nuclear engineering This paper presents an output-based command shaping (OCS) technique for an effective payload sway control of a 3D crane with hoisting. A crane is a challenging and time-varying system, as the cable length changes during the operation. The OCS technique is designed based on output signals of an actual system and reference model, does not require the natural frequency and damping ratio of the system, and thus can be utilized to minimize the hoisting effects on the payload sway. The shaper was designed by using the derived non-linear model of a 3D crane. To test the effectiveness of the controller, simulations using a non-linear 3D crane model and experiments on a lab-scale 3D crane were performed and compared with a zero vibration derivative (ZVD) shaper and a ZVD shaper designed using an average travel length (ATL) technique. In both the simulations and the experiments, the OCS technique was shown to be superior in reducing the payload sway with reductions of more than 56% and 33% in both of the transient and residual sways that were achieved when compared with both the ZVD and the ATL shapers, respectively. In addition, the OCS technique provided the fastest time response during the hoisting. It is envisaged that the method can be very useful in reducing the complexity of closed-loop controllers for both tracking and sway control. SAGE Publications Ltd 2017 Article PeerReviewed Abdullahi, A. M. and Mohamed, Z. and Zainal Abidin, M. S. and Buyamin, S. and Bature, A. A. (2017) Output-based command shaping technique for an effective payload sway control of a 3D crane with hoisting. Transactions of the Institute of Measurement and Control, 39 (10). pp. 1443-1453. ISSN 0142-3312 https://www.scopus.com/inward/record.uri?eid=2-s2.0-85032390398&doi=10.1177%2f0142331216640871&partnerID=40&md5=3ddaeb511a54abd704f5c42322f110e0
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 Abdullahi, A. M. Mohamed, Z. Zainal Abidin, M. S. Buyamin, S. Bature, A. A. Output-based command shaping technique for an effective payload sway control of a 3D crane with hoisting
description	This paper presents an output-based command shaping (OCS) technique for an effective payload sway control of a 3D crane with hoisting. A crane is a challenging and time-varying system, as the cable length changes during the operation. The OCS technique is designed based on output signals of an actual system and reference model, does not require the natural frequency and damping ratio of the system, and thus can be utilized to minimize the hoisting effects on the payload sway. The shaper was designed by using the derived non-linear model of a 3D crane. To test the effectiveness of the controller, simulations using a non-linear 3D crane model and experiments on a lab-scale 3D crane were performed and compared with a zero vibration derivative (ZVD) shaper and a ZVD shaper designed using an average travel length (ATL) technique. In both the simulations and the experiments, the OCS technique was shown to be superior in reducing the payload sway with reductions of more than 56% and 33% in both of the transient and residual sways that were achieved when compared with both the ZVD and the ATL shapers, respectively. In addition, the OCS technique provided the fastest time response during the hoisting. It is envisaged that the method can be very useful in reducing the complexity of closed-loop controllers for both tracking and sway control.
format	Article
author	Abdullahi, A. M. Mohamed, Z. Zainal Abidin, M. S. Buyamin, S. Bature, A. A.
author_facet	Abdullahi, A. M. Mohamed, Z. Zainal Abidin, M. S. Buyamin, S. Bature, A. A.
author_sort	Abdullahi, A. M.
title	Output-based command shaping technique for an effective payload sway control of a 3D crane with hoisting
title_short	Output-based command shaping technique for an effective payload sway control of a 3D crane with hoisting
title_full	Output-based command shaping technique for an effective payload sway control of a 3D crane with hoisting
title_fullStr	Output-based command shaping technique for an effective payload sway control of a 3D crane with hoisting
title_full_unstemmed	Output-based command shaping technique for an effective payload sway control of a 3D crane with hoisting
title_sort	output-based command shaping technique for an effective payload sway control of a 3d crane with hoisting
publisher	SAGE Publications Ltd
publishDate	2017
url	http://eprints.utm.my/id/eprint/75616/ https://www.scopus.com/inward/record.uri?eid=2-s2.0-85032390398&doi=10.1177%2f0142331216640871&partnerID=40&md5=3ddaeb511a54abd704f5c42322f110e0
_version_	1643657113495404544
score	13.211869

Output-based command shaping technique for an effective payload sway control of a 3D crane with hoisting

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