Comparison of Input Shaping Techniques for Sway Suppression in a Double-Pendulum-Type Overhead Crane

2009 ◽  
Author(s):  
Mohd Ashraf Ahmad ◽  
Raja Mohd Taufika Raja Ismail ◽  
Mohd Syakirin Ramli ◽  
Ahmad Nor Kasruddin Nasir ◽  
Normaniha Abd Ghani ◽  
...  
Keyword(s):  
Input Shaping ◽  
Double Pendulum ◽  
Overhead Crane

Frequency-Modulation Input Shaping Control of Double-Pendulum Overhead Cranes

2013 ◽  
Vol 136 (2) ◽  
Author(s):  
Ziyad N. Masoud ◽  
Khaled A. Alhazza
Keyword(s):  
Frequency Modulation ◽  
Closed Loop ◽  
Single Mode ◽  
Mode Frequency ◽  
Input Shaping ◽  
Double Pendulum ◽  
Overhead Crane ◽  
Primary Input ◽  
Shaping Technique ◽  
Input Shaper

Traditionally, multimode input shaping controllers are tuned to systems' frequencies. This work suggests an alternative approach. A frequency-modulation (FM) input shaping technique is developed to tune the resonant frequencies of a system to a set of frequencies that can be eliminated by a single-mode primary input shaper. Most of the current input shaping techniques can be used as primary input shapers for the FM input shaping technique. Virtual feedback is used to modulate the closed-loop frequencies of a simulated double-pendulum model of an overhead crane to the point where the closed-loop second mode frequency becomes an odd-multiple of the closed-loop first mode frequency, which is the necessary condition for a satisfactory performance of most single-mode input shapers. The primary input shaper is based on the first mode frequency of the closed-loop system model. The input commands to the plant of the virtual feedback system are then used to drive the physical double-pendulum. Simulations results, using primary zero-vibration (ZV) and zero-vibration-derivative (ZVD) input shapers, are presented. The performance is validated experimentally on a scaled model of a double-pendulum overhead crane.

scholarly journals Simplified input-output inversion control of a double pendulum overhead crane for residual oscillations reduction

Mechatronics ◽  
2018 ◽  
Vol 56 ◽  
pp. 37-47 ◽  
Author(s):  
Marco Giacomelli ◽  
Fabrizio Padula ◽  
Luca Simoni ◽  
Antonio Visioli
Keyword(s):  
Double Pendulum ◽  
Overhead Crane ◽  
Input Output

H∞ Control of Double Pendulum Overhead Crane Based on T-S Fuzzy Model

2021 ◽  
Author(s):  
Xue-Juan Shao ◽  
Li-Qin Liu ◽  
Jing-Gang Zhang ◽  
Zhi-Mei Chen ◽  
Zhi-Cheng Zhao
Keyword(s):  
Fuzzy Model ◽  
Double Pendulum ◽  
Overhead Crane

Advanced modeling and optimal control of a cart-double pendulum system

2019 ◽  
Author(s):  
◽  
Cecil Jr. Shy
Keyword(s):  
Optimal Control ◽  
Lagrange Equation ◽  
Control Technique ◽  
Tuning Parameter ◽  
Microgravity Environment ◽  
Double Pendulum ◽  
Overhead Crane ◽  
Material Transport ◽  
Pendulum System ◽  
Industry Standards

[ACCESS RESTRICTED TO THE UNIVERSITY OF MISSOURI AT AUTHOR'S REQUEST.] The Overhead Crane has evolved in scope since its inception in the late 1800's. Its early use as a hoist for material transport is now proceeded by new found applications, such as in the Active Response Gravity Offload System (ARGOS) at the NASA Johnson Space Center. ARGOS is an astronaut training facility designed to simulate reduced gravity environments such as Lunar, Martian, or microgravity. By industry standards, it is essentially a repurposed Overhead Crane; in academia it can be conceptualized as a cart-double pendulum system. Anti-sway control of cart-pendulum systems has been heavily researched; however, these methods are not typically designed for space simulation. The goal of this research is to design a controller that provides both energy and error minimization for the cart-pendulum, so that its payload moves as if it were floating freely in a microgravity environment (according to Newton's 1st law). The Euler-Lagrange equation is used to model the system and an optimal control technique called the [alpha]-shift is used to control the system. Most treatments on optimal linear control do not include the [alpha]-shift, but its addition allows one to stabilize the system faster and provides an extra tuning parameter while maintaining the simplicity of the solution. Numerical experiments show that the [alpha]-shift method significantly improves the cart-pendulum's ability to control its payload; especially for payloads in the cart-double-pendulum case.

scholarly journals Design of simultaneous input-shaping-based SIRMs fuzzy control for double-pendulum-type overhead cranes

2015 ◽  
Vol 63 (4) ◽  
pp. 887-896 ◽  
Author(s):  
D. Qian ◽  
S. Tong ◽  
B. Yang ◽  
S. Lee
Keyword(s):  
Fuzzy Control ◽  
Control Method ◽  
Fuzzy Controller ◽  
Input Shaping ◽  
Double Pendulum ◽  
Overhead Cranes ◽  
Control Command ◽  
Single Input ◽  
System Variables ◽  
Simultaneous Input

Abstract Overhead cranes are extensively employed but their performance suffers from the natural sway of payloads. Sometime, the sway exhibits double-pendulum motions. To suppress the motions, this paper investigates the design of simultaneous input-shaping-based fuzzy control for double-pendulum-type overhead cranes. The fuzzy control method is based on the single input-rule modules (SIRMs). Provided the all the system variables are measurable, the SIRMs fuzzy controller is designed at first. To improve the performance of the fuzzy controller, the simultaneous input shaper is adopted to shape the control command generated by the fuzzy controller. Compared with other two control methods, i.e., the SIRMs fuzzy control and the convolved input-shaping-based SIRMs fuzzy control, simulation results illustrate the feasibility, validity and robustness of the presented control method for the anti-swing control problem of double-pendulum-type overhead cranes.

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