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Input shaping techniques for sway control of a rotary crane system

This paper investigates the performance of input shaping techniques for sway control of a rotary 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 p...

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Main Authors: Alhassan, A., Mohamed, Z., Abdullahi, A. M.
Format: Article
Language:English
Published: Penerbit UTM Press 2018
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://eprints.utm.my/id/eprint/83948/1/AhmadAlhassan2018_InputShapingTechniquesForSway.pdf
http://eprints.utm.my/id/eprint/83948/
http://dx.doi.org/10.11113/jt.v80.10297
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spelling my.utm.839482019-11-05T04:33:18Z http://eprints.utm.my/id/eprint/83948/ Input shaping techniques for sway control of a rotary crane system Alhassan, A. Mohamed, Z. Abdullahi, A. M. TK Electrical engineering. Electronics Nuclear engineering This paper investigates the performance of input shaping techniques for sway control of a rotary 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. A nonlinear model of the system was derived using the Lagrange’s 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 length. Level of reduction of the payload sway is used to assess the control performance of the shapers. Simulation and real time experimental results have shown that ZVDDD with a sway reduction of 88% has the highest level of sway reduction and highest robustness to modeling errors as compared to other shapers. Penerbit UTM Press 2018-01 Article PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/83948/1/AhmadAlhassan2018_InputShapingTechniquesForSway.pdf Alhassan, A. and Mohamed, Z. and Abdullahi, A. M. (2018) Input shaping techniques for sway control of a rotary crane system. Jurnal Teknologi, 80 . pp. 61-69. ISSN 0127-9696 http://dx.doi.org/10.11113/jt.v80.10297 DOI:10.11113/jt.v80.10297
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
Alhassan, A.
Mohamed, Z.
Abdullahi, A. M.
Input shaping techniques for sway control of a rotary crane system
description This paper investigates the performance of input shaping techniques for sway control of a rotary 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. A nonlinear model of the system was derived using the Lagrange’s 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 length. Level of reduction of the payload sway is used to assess the control performance of the shapers. Simulation and real time experimental results have shown that ZVDDD with a sway reduction of 88% has the highest level of sway reduction and highest robustness to modeling errors as compared to other shapers.
format Article
author Alhassan, A.
Mohamed, Z.
Abdullahi, A. M.
author_facet Alhassan, A.
Mohamed, Z.
Abdullahi, A. M.
author_sort Alhassan, A.
title Input shaping techniques for sway control of a rotary crane system
title_short Input shaping techniques for sway control of a rotary crane system
title_full Input shaping techniques for sway control of a rotary crane system
title_fullStr Input shaping techniques for sway control of a rotary crane system
title_full_unstemmed Input shaping techniques for sway control of a rotary crane system
title_sort input shaping techniques for sway control of a rotary crane system
publisher Penerbit UTM Press
publishDate 2018
url http://eprints.utm.my/id/eprint/83948/1/AhmadAlhassan2018_InputShapingTechniquesForSway.pdf
http://eprints.utm.my/id/eprint/83948/
http://dx.doi.org/10.11113/jt.v80.10297
_version_ 1651866738742001664
score 13.211869

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