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Position and sway control of a nonlinear tower crane system using input shaping techniques

Crane systems are the most widely used tools in the shipping yards and construction sites to transport goods from one point to another. The emergence of high riser-building, encourages the use of modern systems particularly tower crane systems to conveniently execute various tasks within the shortes...

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Main Author: Ahmad Bala, Alhassan
Format: Thesis
Language:English
Published: 2018
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://eprints.utm.my/id/eprint/80872/1/AlHassanAhmadBalaMFKE2015.pdf
http://eprints.utm.my/id/eprint/80872/
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spelling my.utm.808722019-07-24T00:08:23Z http://eprints.utm.my/id/eprint/80872/ Position and sway control of a nonlinear tower crane system using input shaping techniques Ahmad Bala, Alhassan TK Electrical engineering. Electronics Nuclear engineering Crane systems are the most widely used tools in the shipping yards and construction sites to transport goods from one point to another. The emergence of high riser-building, encourages the use of modern systems particularly tower crane systems to conveniently execute various tasks within the shortest possible time. However, those systems suffered greatly from undesired swinging during the process. Conversely, this significantly posed problems to the systems, resulting to inaccurate positioning of the payload, unease of operation by the human operator and in some cases even damage to the system. This paper investigates the performance of input shaping techniques for sway control of a tower crane system. Unlike the conventional optimal controllers, input shaping is simple to design and cost effective as it does not require feedback sensors. Several input shapers were implemented and their performances were compared which are useful for future sway control designs. The nonlinear model of the system was derived using the Lagrange’s energy equation. To investigate the performance and robustness of input shaping techniques, zero vibration (ZV), zero vibration derivative (ZVD), zero vibration derivative-derivative (ZVDD) and zero vibration derivative-derivative-derivative (ZVDDD) were proposed with a constant cable dimension in an open loop configuration. Simulation and experimental results have shown that ZVDDD with the slowest response has the highest level of sway reduction and robustness to modelling errors as compared to ZV, ZVD and ZVDD. Moreover, to improve the response, a negative amplitude zero vibration derivative-derivative (NAZVDD) was designed and its performance was compared with ZVDD. It is found that NAZVDD gives a faster response with small robustness penalty as compared to ZVDD. 2018-12 Thesis NonPeerReviewed application/pdf en http://eprints.utm.my/id/eprint/80872/1/AlHassanAhmadBalaMFKE2015.pdf Ahmad Bala, Alhassan (2018) Position and sway control of a nonlinear tower crane system using input shaping techniques. Masters thesis, Universiti Teknologi Malaysia, Faculty of Electrical Engineering. http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:119998
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/
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Ahmad Bala, Alhassan
Position and sway control of a nonlinear tower crane system using input shaping techniques
description Crane systems are the most widely used tools in the shipping yards and construction sites to transport goods from one point to another. The emergence of high riser-building, encourages the use of modern systems particularly tower crane systems to conveniently execute various tasks within the shortest possible time. However, those systems suffered greatly from undesired swinging during the process. Conversely, this significantly posed problems to the systems, resulting to inaccurate positioning of the payload, unease of operation by the human operator and in some cases even damage to the system. This paper investigates the performance of input shaping techniques for sway control of a tower crane system. Unlike the conventional optimal controllers, input shaping is simple to design and cost effective as it does not require feedback sensors. Several input shapers were implemented and their performances were compared which are useful for future sway control designs. The nonlinear model of the system was derived using the Lagrange’s energy equation. To investigate the performance and robustness of input shaping techniques, zero vibration (ZV), zero vibration derivative (ZVD), zero vibration derivative-derivative (ZVDD) and zero vibration derivative-derivative-derivative (ZVDDD) were proposed with a constant cable dimension in an open loop configuration. Simulation and experimental results have shown that ZVDDD with the slowest response has the highest level of sway reduction and robustness to modelling errors as compared to ZV, ZVD and ZVDD. Moreover, to improve the response, a negative amplitude zero vibration derivative-derivative (NAZVDD) was designed and its performance was compared with ZVDD. It is found that NAZVDD gives a faster response with small robustness penalty as compared to ZVDD.
format Thesis
author Ahmad Bala, Alhassan
author_facet Ahmad Bala, Alhassan
author_sort Ahmad Bala, Alhassan
title Position and sway control of a nonlinear tower crane system using input shaping techniques
title_short Position and sway control of a nonlinear tower crane system using input shaping techniques
title_full Position and sway control of a nonlinear tower crane system using input shaping techniques
title_fullStr Position and sway control of a nonlinear tower crane system using input shaping techniques
title_full_unstemmed Position and sway control of a nonlinear tower crane system using input shaping techniques
title_sort position and sway control of a nonlinear tower crane system using input shaping techniques
publishDate 2018
url http://eprints.utm.my/id/eprint/80872/1/AlHassanAhmadBalaMFKE2015.pdf
http://eprints.utm.my/id/eprint/80872/
http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:119998
_version_ 1643658541887651840
score 13.211869

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