A hybrid command-shaping control system for highly accelerated double-pendulum gantry cranes

Ziyad N. Masoud, Khalid A. Alhazza, Majed A. Majeed, Eiyad A. Abu-Nada

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

16 Scopus citations

Abstract

A gantry cranes is generally modeled as a simple-pendulum with a point mass attached to the end of a massless rigid link. Numerous control systems have been developed to reduce payload oscillations in order to improve safety and positioning accuracy of crane operations. However, large-size payloads transforms the crane model from a simple-pendulum system to a double-pendulum system. Control systems that consider only one mode of oscillations of a double-pendulum may excite large oscillations in the other mode. In multi-degrees-of-freedom systems, command-shaping controllers designed for the first mode may eliminate oscillations of higher modes provided that their frequencies are odd integer multiples of the first mode frequency. In this work, a hybrid command-shaping controller is designed to generate acceleration commands to suppress travel and residual oscillations of a highly accelerated double-pendulum gantry crane. It is shown that the suggested hybrid command-shaper is capable of minimizing oscillations of both modes of a scaled experimental double-pendulum model of a gantry crane. Results show that the hybrid command-shaper produces a reduction of 95% in residual oscillations in both modes of the double-pendulum over the time-optimal rigid-body commands.

Original languageBritish English
Title of host publicationASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009
Pages1809-1817
Number of pages9
EditionPARTS A, B AND C
DOIs
StatePublished - 2009
EventASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009 - San Diego, CA, United States
Duration: 30 Aug 20092 Sep 2009

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
NumberPARTS A, B AND C
Volume4

Conference

ConferenceASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009
Country/TerritoryUnited States
CitySan Diego, CA
Period30/08/092/09/09

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