Command shaping for vibration reduction of container cranes

Author

Ngo, Quang Hieu ; Nan, Yanghai ; Hong, Keum-Shik

Author_Institution

Coll. of Technol., Can Tho Univ., Can Tho, Vietnam

fYear

2012

Firstpage

651

Lastpage

655

Abstract

A combination of command shaping and bang/off-bang control scheme for container cranes is investigated in this paper. A linear model of the system is used to design the input shaper, where the trolley acceleration is given as an input, for suppressing the payload vibration. Bang/off-bang control guarantees that the trolley reaches the goal position By utilizing an industrial servo motor and its driver, the acceleration command from input shaper is integrated to become the velocity command for the motor. The control algorithm is simulated with the nonlinear system. The robustness of the control system is also evaluated with the natural frequency has ± 10% uncertainty (rope length variation).

Keywords

control system synthesis; cranes; nonlinear control systems; vibration control; acceleration command; bang-off-bang control scheme; command shaping; container cranes; industrial servo motor; input shaper design; linear model; nonlinear system; payload vibration; rope length variation; trolley acceleration; velocity command; vibration reduction; Acceleration; Containers; Control systems; Cranes; Mathematical model; Payloads; Robustness; Command shaping; Container crane; Input shaping; Residue sway;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems (ICCAS), 2012 12th International Conference on

Print_ISBN

978-1-4673-2247-8

Type

conf

Filename

6393263