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

被引：0

作者：

Ahmad, M. A. ^{[1
]}

Ismail, R. M. T. Raja ^{[1
]}

Ramli, M. S. ^{[1
]}

Nasir, A. N. K. ^{[1
]}

Abd Ghani, N. M. ^{[1
]}

Noordin, N. H. ^{[1
]}

机构：

[1] Univ Malaysia Pahang, Fac Elect & Elect Engn, Kuantan 26300, Pahang, Malaysia

来源：

2009 THIRD UKSIM EUROPEAN SYMPOSIUM ON COMPUTER MODELING AND SIMULATION (EMS 2009) | 2009年

关键词：

Double-pendulum-type overhead crane; anti-sway control; positive input shaping; negative input shaping; VIBRATION CONTROL;

D O I：

暂无

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

This paper presents investigations into the development of robust input shaping control schemes for anti-swaying control of a double-pendulum-type overhead crane (DPTOC) system. A nonlinear DPTOC system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. An unshaped bang-bang input force is used to determine the characteristic parameters of the system for design and evaluation of the input shaping control techniques. The positive and modified specified negative amplitude (SNA) input shapers with the derivative effects respectively are designed based on the properties of the system. Simulation results of the response of the DPTOC system to the shaped inputs are presented in time and frequency domains. Performances of the control schemes are examined in terms of sway angle reduction and time response specifications. Finally, a comparative assessment of the proposed control techniques is presented and discussed.

引用

页码：321 / 326

页数：6

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