Staff View: Improved unity magnitude input shaping scheme for sway control of an underactuated 3D overhead crane with hoisting

Improved unity magnitude input shaping scheme for sway control of an underactuated 3D overhead crane with hoisting

This paper proposes an improved unity magnitude zero vibration (UMZV) shaper for payload sway reduction of an underactuated 3D overhead crane with hoisting effects. The proposed technique is effective in adapting to changes in the cable length and the crane dynamics during hoisting and thus provides...

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Main Authors:	Maghsoudi, M. J., Ramli, Liyana, Sudin, S., Mohamed, Z., Husain, A. R., Wahid, H.
Format:	Article
Published:	Elsevier Ltd. 2019
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/88740/ http://dx.doi.org/10.1016/j.ymssp.2018.12.056
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id	my.utm.88740
record_format	eprints
spelling	my.utm.887402020-12-29T04:17:22Z http://eprints.utm.my/id/eprint/88740/ Improved unity magnitude input shaping scheme for sway control of an underactuated 3D overhead crane with hoisting Maghsoudi, M. J. Ramli, Liyana Sudin, S. Mohamed, Z. Husain, A. R. Wahid, H. TK Electrical engineering. Electronics Nuclear engineering This paper proposes an improved unity magnitude zero vibration (UMZV) shaper for payload sway reduction of an underactuated 3D overhead crane with hoisting effects. The proposed technique is effective in adapting to changes in the cable length and the crane dynamics during hoisting and thus provides higher sway reductions. The shaper is designed using the relationship of optimal UMZV shaper parameters and cable length obtained using a nonlinear model of a 3D overhead crane and particle swarm optimisation. A technique to choose the shaper parameters automatically during the hoisting operation is designed. To test the effectiveness of the proposed technique, MATLAB simulation and experiments are carried out on a laboratory crane under two hoisting cases. The superiority of the proposed technique is confirmed by achieving at least two-fold reductions in maximum transient and residual sways of the laboratory crane when compared to the Average Travel Length technique. The advantage of the improved UMZV shaper is also demonstrated with the simulation results. It is envisaged that the method can be useful for an operator to handle cranes in three dimensions without motion-induced sway problem. Elsevier Ltd. 2019-05-15 Article PeerReviewed Maghsoudi, M. J. and Ramli, Liyana and Sudin, S. and Mohamed, Z. and Husain, A. R. and Wahid, H. (2019) Improved unity magnitude input shaping scheme for sway control of an underactuated 3D overhead crane with hoisting. Mechanical Systems and Signal Processing, 123 . pp. 466-482. ISSN 0888-3270 http://dx.doi.org/10.1016/j.ymssp.2018.12.056 DOI:10.1016/j.ymssp.2018.12.056
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 Maghsoudi, M. J. Ramli, Liyana Sudin, S. Mohamed, Z. Husain, A. R. Wahid, H. Improved unity magnitude input shaping scheme for sway control of an underactuated 3D overhead crane with hoisting
description	This paper proposes an improved unity magnitude zero vibration (UMZV) shaper for payload sway reduction of an underactuated 3D overhead crane with hoisting effects. The proposed technique is effective in adapting to changes in the cable length and the crane dynamics during hoisting and thus provides higher sway reductions. The shaper is designed using the relationship of optimal UMZV shaper parameters and cable length obtained using a nonlinear model of a 3D overhead crane and particle swarm optimisation. A technique to choose the shaper parameters automatically during the hoisting operation is designed. To test the effectiveness of the proposed technique, MATLAB simulation and experiments are carried out on a laboratory crane under two hoisting cases. The superiority of the proposed technique is confirmed by achieving at least two-fold reductions in maximum transient and residual sways of the laboratory crane when compared to the Average Travel Length technique. The advantage of the improved UMZV shaper is also demonstrated with the simulation results. It is envisaged that the method can be useful for an operator to handle cranes in three dimensions without motion-induced sway problem.
format	Article
author	Maghsoudi, M. J. Ramli, Liyana Sudin, S. Mohamed, Z. Husain, A. R. Wahid, H.
author_facet	Maghsoudi, M. J. Ramli, Liyana Sudin, S. Mohamed, Z. Husain, A. R. Wahid, H.
author_sort	Maghsoudi, M. J.
title	Improved unity magnitude input shaping scheme for sway control of an underactuated 3D overhead crane with hoisting
title_short	Improved unity magnitude input shaping scheme for sway control of an underactuated 3D overhead crane with hoisting
title_full	Improved unity magnitude input shaping scheme for sway control of an underactuated 3D overhead crane with hoisting
title_fullStr	Improved unity magnitude input shaping scheme for sway control of an underactuated 3D overhead crane with hoisting
title_full_unstemmed	Improved unity magnitude input shaping scheme for sway control of an underactuated 3D overhead crane with hoisting
title_sort	improved unity magnitude input shaping scheme for sway control of an underactuated 3d overhead crane with hoisting
publisher	Elsevier Ltd.
publishDate	2019
url	http://eprints.utm.my/id/eprint/88740/ http://dx.doi.org/10.1016/j.ymssp.2018.12.056
_version_	1687393614740586496
score	13.211869

Improved unity magnitude input shaping scheme for sway control of an underactuated 3D overhead crane with hoisting

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