Input shaping and VSC of container cranes

2005 ◽  
Author(s):  
Kyung-Tae Hong ◽  
Keum-Shik Hong
Keyword(s):  
Input Shaping ◽  
Container Cranes

Nonlinear Input-Shaping Controller for Quay-Side Container Cranes

2006 ◽  
Vol 45 (1-2) ◽  
pp. 149-170 ◽  
Author(s):  
Mohammed F. Daqaq ◽  
Ziyad N. Masoud
Keyword(s):  
Input Shaping ◽  
Container Cranes ◽  
Nonlinear Input

Mathematical modelling of the container cranes under seismic loading and proving by shake table

2013 ◽  
Vol 73 (1-2) ◽  
pp. 143-154 ◽  
Author(s):  
C. Oktay Azeloglu ◽  
Ahmet Sagirli ◽  
Ayse Edincliler
Keyword(s):  
Mathematical Modelling ◽  
Seismic Loading ◽  
Shake Table ◽  
Container Cranes

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.

Sign in / Sign up

Export Citation Format

Share Document