International Journal of Control, Automation, and Systems

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Command Shaping Control for Limiting the Transient Sway Angle of Crane Systems

  • Hong, Kyung-Tae (School of Mechanical Engineering, Pusan National University) ;
  • Huh, Chang-Do (School of Mechanical Engineering, Pusan National University) ;
  • Hong, Keum-Shik (School of Mechanical Engineering, Pusan National University)
  • Published : 2003.03.01
Download PDF
⟨ Previous Next ⟩

Abstract

A modified command shaping control to reduce residual vibrations at a target position and to limit the sway angle of the payload during traveling for container crane systems is investigated. When the maneuvering time is minimized, a large transient amplitude and steady state oscillations may occur inherently. Since a large swing of the payload during the transfer is dangerous, the control objective is to transfer a payload to the desired place as quickly as possible while limiting the swing angle of the payload during the transfer. The conventional shapers have been enhanced by adding one more constraint to limit intermediate sway angles of the payload. The developed method is shown to be more effective than other conventional shapers for prevention of an excessive transient sway. Computer simulation results are provided.

Keywords

References

  1. Automatica v.23 no.4 Time optimal control of overhead cranes with hoisting of the load J. W. Auernig;H. Troger https://doi.org/10.1016/0005-1098(87)90073-2
  2. ASME Journal of Dynamic Systems, Measurement, and Control v.110 Nonlinear modeling and control of overhead crane load sway K. A. F. Moustafa;A. M. Ebeid https://doi.org/10.1115/1.3152680
  3. Automatica v.18 no.3 Optimal control of container cranes Y. Sakawa;Y. Shindo https://doi.org/10.1016/0005-1098(82)90086-3
  4. International Journal of Control v.48 no.5 Modeling and control of a flexible rotary crane K. Sato;Y. Sakawa https://doi.org/10.1080/00207178808906308
  5. Journal of Control, Automation, and Systems Engineering v.3 no.1 Sway control of a container crane (Part I): Modeling, control strategy, error feedback control via reference velocity profiles K. S. Hong;S. H. Sohn;M. H. Lee
  6. Journal of Control, Automation, and Systems Engineering v.3 no.2 Sway control of a container crane (part ii): regulation of the pendulum sway through patternizing trolley moving velocity K. S. Hong;S. C. Sohn;M. H. Lee
  7. JSME International Journal, Series C v.43 no.2 Two-stage control for container cranes K. S. Hong;B. J. Park;M. H. Lee
  8. Feedback Control Systems O. J. M. Smith
  9. ASME Journal of Dynamic Systems, Measurement, and Control v.112 Preshaping command inputs to reduce system vibration N. C. Singer;W. P. Seering https://doi.org/10.1115/1.2894142
  10. ASME Journal of Dynamic Systems, Measurement, and Control v.116 Residual vibration reduction using vector diagrams to generate shaped inputs W. Singhose;W. Seering;N. Singer
  11. Journal of Guidance, Control and Dynamics v.15 no.3 Robust time-optimal control of uncertain flexible spacecraft Q. Liu;B. Wie https://doi.org/10.2514/3.20880
  12. Control Engineering Practice v.5 no.4 A comparision of input shaping and time-optimal flexible-body control W. Singhose;L. Pao https://doi.org/10.1016/S0967-0661(97)00025-7
  13. ASME Journal of Dynamic Systems, Measurement, and Control v.112 Experimental evaluation of shaped inputs to reduce vibration for a cartesian robot P. H. Meckl;W. P. Seering https://doi.org/10.1115/1.2896122
  14. Proc. of the 1998 American Control Conference Learning input shaping technique for non-Iti systems J. Park;P. H. Chang
  15. IEEE International Conference on Contol Applications v.MA4-6 Time-efficient input shaping control of container crane systems B. J. Park;K. S. Hpng;C. D. Huh
  16. Control Engineering Practice v.8 no.10 Effects of hoisting on the input shaping control of gantry cranes W. Singhose;L. Porter;M. Kenison;E. Kriikku https://doi.org/10.1016/S0967-0661(00)00054-X
  17. Journal of Guidance, Control, and Dynamics v.20 no.2 Slewing flexible spacecraft with deflection-limiting input shaping W. Singhose;A. Banerjee https://doi.org/10.2514/2.4036
  18. CRC Handbook of Tables for Applied Engineering Science R. E. Botz;G. L. Tuve
  19. GAMS: A User's Guide A. Brooke;D. Kendrick;A. Meeraus;R. Raman
  20. Control Engineering Practice v.6 no.9 Automatic measurement and control of the attitude of crane lifters lifter-attitude measurement and control S. Tanaka;S. Kouno https://doi.org/10.1016/S0967-0661(98)00104-X
  21. Proc. of the 1999 IEEE International Conference on Control Applications v.1 Input shaper design for double-pendulum planar gantry cranes M. Kenison;W. Singhose
  22. IEE Proc. of Control Theory and Applications v.144 no.6 Convolved and simultaneous two-mode input shapers W. Singhose;E. Crain;W. Seering https://doi.org/10.1049/ip-cta:19971439
  23. Automatica v.35 no.1 Multi-Input shaping design for vibration reduction L> Y. Pao https://doi.org/10.1016/S0005-1098(98)00124-1
  24. IEEE Trans. on Control Systems Technology v.11 no.1 Control using equal length shaped commands to reduce vibration C. F. Cutforth;L. Y. Pao https://doi.org/10.1109/TCST.2002.806460