Simplified input-output inversion control of a double pendulum overhead crane for residual oscillations reduction
نویسندگان
چکیده
منابع مشابه
MA3-6 : Reduction of Double-Pendulum Bridge Crane Oscillations
The natural sway of crane payloads is detrimental to safe and efficient operation. Under certain conditions, the problem is complicated when the payloads create a double-pendulum effect. Most crane control research to date has focused on single-mode dynamics. For example, several researchers have shown that signal-mode oscillations can be greatly reduced by properly shaping the inputs to the cr...
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This paper presents investigations into the development of composite control schemes for trajectory tracking and antisway 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. The proposed method, known as the Single Input Fuzzy Logic Controller (SIFLC), reduces...
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This paper presents investigations into the development of input shaping techniques for swaying control of a doublependulum-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...
متن کاملPractical Sway Motion Control for Double Pendulum-type Overhead Crane System
The sway motion of crane can be successfully suppressed by properly shaping the reference command. Input shaping is a one type of feed-forward shaping method that is based on linear superposition. In this paper, we present the impact of double pendulum type overhead crane (DPTOC) system on the effectiveness of input shaping. An unshaped bang-bang input force is used to determine the characteris...
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A primary limitation on crane operations is the difficulty of controlling payload oscillations. Given the significance of cranes, it is not surprising that a large amount of research has been dedicated to eliminating crane payload oscillation. Numerous feedbackbased control methods have been proposed. Command-shaping is another method that has received significant attention. This paper compares...
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ژورنال
عنوان ژورنال: Mechatronics
سال: 2018
ISSN: 0957-4158
DOI: 10.1016/j.mechatronics.2018.10.002