Input Shaping for Sway Control in Gantry Cranes
نویسندگان
چکیده
منابع مشابه
An Input Shaping Controller Enabling Cranes to Move Without Sway
A gantry crane at the Savannah River Technology Center was retrofitted with an Input Shaping controller. The controller intercepts the operator’s pendant commands and modifies them in real time so that the crane is moved without residual sway in the suspended load. Mechanical components on the crane were modified to make the crane suitable for the anti-sway algorithm. This paper will describe t...
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Problem statement: Most of the common gantry crane results in a sway motion when transporting the load as fast as possible. In addition, precise cart position control of gantry crane must required a zero or near zero residual sway. Approach: In this study, the development of hybrid control schemes for input tracking and anti-sway control of a gantry crane system was investigated. To study the e...
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A process for anti-sway control of a rotating boom or other three-degree-of-freedom crane wherein the load is hoisted, at variable hoist lengths, by a cable suspended from a point that can be moved in space in three dimensions, either freely, or under known constraints. Initial acceleration of the load induces an initial sway to the load. A second lateral acceleration, equal to the first latera...
متن کاملControl Schemes for Input Tracking and Anti-sway Control of a Gantry Crane
This paper presents investigations into the development of hybrid control schemes for input tracking and anti-sway control of a gantry crane system. A nonlinear overhead gantry crane system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. To study the effectiveness of the controllers, an LQR control is developed for cart position control of a ga...
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ژورنال
عنوان ژورنال: IOSR Journal of Mechanical and Civil Engineering
سال: 2012
ISSN: 2278-1684
DOI: 10.9790/1684-0123646