Input Shaped Control of a Gantry Crane with Inertial Payload

被引：0
|
作者：
Stein, Adrian
Singh, Tarunraj
机构：
来源：
2022 AMERICAN CONTROL CONFERENCE, ACC | 2022年
关键词：
Input Shaper; Gantry Crane; Vibration Control;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The focus of this work is on the development of a model for a gantry crane transporting a non point-mass payload such as pipes, where besides the payload swinging, includes the twisting motion also, which can be hazardous if not adequately controlled. Euler-Lagrange equations of motion are derived which permit accounting for payloads whose center of mass does not coincide with the hoisting cable attachment. Work-Energy principle is used to ensure that a collocated Proportional-Derivative (PD)-controller is stabilizing and an input shaper is used to shape the reference profile to permit minimal residual vibration of the payload.
引用
收藏
页码：4127 / 4132
页数：6
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