Input Shaping Techniques for Anti-sway Control of a 3-DOF Rotary Crane System

2013 ◽  
Author(s):  
Reza Ezuan Samin ◽  
Zaharuddin Mohamed ◽  
Jamaludin Jalani ◽  
Rozaimi Ghazali
Keyword(s):  
Input Shaping ◽  
Rotary Crane

INPUT SHAPING TECHNIQUES FOR SWAY CONTROL OF A ROTARY CRANE SYSTEM

2017 ◽  
Vol 80 (1) ◽  
Author(s):  
Ahmad Alhassan ◽  
Z. Mohamed ◽  
Auwalu M. Abdullahi ◽  
Amir A. Bature ◽  
Ado Haruna ◽  
...  
Keyword(s):  
Real Time ◽  
Nonlinear Model ◽  
Energy Equation ◽  
Cost Effective ◽  
Input Shaping ◽  
Control Performance ◽  
Optimal Controllers ◽  
Modeling Errors ◽  
Rotary Crane ◽  
Control Designs

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 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. Level of reduction of the payload sway was used to assess the control performance of the shapers. Simulation and real time experimental results have shown that ZVDDD with an average sway reduction of 88% has the highest level of sway reduction and robustness to modeling errors as compared to 85%, 80% and 65% for ZVDD, ZVD and ZV respectively.

Robust input shaping for anti-sway control of rotary crane

2009 ◽  
Author(s):  
M. A. Ahmad ◽  
R. M. T. Raja Ismail ◽  
M. S. Ramli ◽  
R. E. Samin ◽  
M. A. Zawawi
Keyword(s):  
Input Shaping ◽  
Rotary Crane

Experimental evaluation of time-varying impulse shaping with a two-link flexible manipulator

Robotica ◽  
1996 ◽  
Vol 14 (3) ◽  
pp. 339-345 ◽  
Author(s):  
Jung-Keun Cho ◽  
Youn-Sik Park
Keyword(s):  
Vibration Reduction ◽  
Vertical Plane ◽  
Joint Stiffness ◽  
Flexible Manipulator ◽  
Input Shaping ◽  
Time Varying ◽  
Modal Properties ◽  
Revolute Joints ◽  
Point Motion ◽  
Point To Point

SUMMARYIn the authors' previous paper,10 an input shaping method was presented to reduce motion-induced vibrations effectively for various classes of flexible systems. In this paper, the effectiveness of the shaping method is experimentally demonstrated with a two-link flexible manipulator systemThe manipulator for experiments includes two revolute joints and two flexible links, and moves on a vertical plane under gravity. An analytic model is developed considering the flexibility of the system and its joint stiffness in order to derive an appropriate estimation of dynamic modal properties. The input shaping method used in this work utilizes time-varying modal properties obtained from the model instead of the conventional input shaping method which employs time-invariant modal properties. A point-to-point motion is tested in order to show the effectivess of the proposed shaping method in vibration reduction during and after a given motion. The given reference trajectories are shaped to suppress the motion induced vibration. The test results demonstrate that the link vibration can be greatly suppressed during and after a motion, and the residual vibration reduction was observed more than 90% by employing this time-varying impulse shaping technique.

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