Crane payloads are frequently subject to oscillations induced through intentional movement and external disturbances. These oscillations degrade performance and can be dangerous. Input shaping is an effective method to move cranes without creating oscillation, however it is not effective on initial swing. This paper develops a feedback control system with two operation modes based on input shaping. They allow a crane operator to remove initial oscillations, while retaining control over the crane movement direction. The system is shown to be simple to implement, and the effectiveness of the two operation modes is verified experimentally on a small-scale bridge crane.
- Dynamic Systems and Control Division
Attenuation of Initial Oscillation in Bridge Cranes via Input-Shaping-Based Feedback Control Methods
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Mann, GJ, Danilochkin, P, & Singhose, WE. "Attenuation of Initial Oscillation in Bridge Cranes via Input-Shaping-Based Feedback Control Methods." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 3: Renewable Energy Systems; Robotics; Robust Control; Single Track Vehicle Dynamics and Control; Stochastic Models, Control and Algorithms in Robotics; Structure Dynamics and Smart Structures; Surgical Robotics; Tire and Suspension Systems Modeling; Vehicle Dynamics and Control; Vibration and Energy; Vibration Control. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 813-822. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8709
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