A Graphical Approach to Input-Shaping Control Design for Container Cranes With Hoist

Masoud, Ziyad N.; Daqaq, Mohammed F.

doi:10.1109/tcst.2006.883194

Cited by 65 publications

(30 citation statements)

References 9 publications

(12 reference statements)

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“…However, research has been published that includes simultaneous travel and hoist in command shaping. Graphical profile generation [18], wave-form profiles [19], iterative learning control [20], and discrete-time command profiles [21] were all used to produce shaped commands for crane maneuvers involving simultaneous travel and hoist. More recently, Zhou et al [22] used the concepts of equivalent frequency and the equivalent damping ratio to take into account the variable hoist length, and the optimal path planning is considered to avoid collision and improve efficiency.…”

Section: Shock and Vibrationmentioning

confidence: 99%

Simultaneous Travel and Hoist Maneuver Input Shaping Control Using Frequency Modulation

Arabasi

Masoud

2017

Shock and Vibration

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This paper presents an input shaping control system for overhead crane operations involving simultaneous hoist and travel maneuvers. The control system utilizes model-based partial feedback linearization with frequency modulation. Traditional input shaping controllers target specific system frequencies. Therefore, they are incapable of accommodating the time dependant frequency associated with simultaneous hoist and travel crane maneuvers. Frequency modulation is used to tune the timedependent system frequency to the design frequency of a primary input shaping controller. Partial feedback linearization is used to eliminate the time-dependent damping of the system. The primary input shaper frequency is based on lowest operating frequency of the system associated with the longest hoisting cable length operation. Simulations results, using primary zero-vibration (ZV) and zero-vibration-derivative (ZVD) input shapers, are presented. General arbitrary input travel and hoist commands are simulated. Results demonstrate the ability of the proposed control system to eliminate residual oscillations in all simulated cases.

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Section: Shock and Vibrationmentioning

confidence: 99%

Simultaneous Travel and Hoist Maneuver Input Shaping Control Using Frequency Modulation

Arabasi

Masoud

2017

Shock and Vibration

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“…Once C is determined, c can be determined from Eq. (17). The optimal input acceleration that minimizes the input vector amplitudes, and satisfies the system's constraints can be determined by…”

Section: Optimization Techniquementioning

confidence: 99%

“…However, recent research incorporated simultaneous travel and hoist in command shaping. Techniques such as graphical profile generation [17], wave-form profiles [18], and iterative learning control [19] were used to produce shaped commands for crane maneuvers involving simultaneous travel and hoist.…”

Section: Introductionmentioning

confidence: 99%

Discrete-time command profile for simultaneous travel and hoist maneuvers of overhead cranes

Alghanim

Alhazza

Masoud

2015

Journal of Sound and Vibration

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“…During the past decade, several control schemes have been developed to improve the crane operation performance such as input shaping control [7,8], optimal control [9,10] and fuzzy control [11]. However, conventional control methods, applied for crane systems in general, are inapplicable to offshore cranes which are subject to variations in the system matrices due to the changes of the payload mass and rope length and wave-and wind-induced disturbances of a large amplitude.…”

Section: Introductionmentioning

confidence: 99%

Offshore Container Crane Systems with Robust OptimalSliding Mode Control

Ismail¹,

That²,

Ha³

2014

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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-Open-sea ship-to-ship transfer operation is an alternative way to avoid port congestion. This process involves a relatively small vessel which transports containers between the harbour and a large cargo ship equipped with a container crane. However, the presence of disturbances and uncertainties caused by harsh open-sea conditions can produce an excessive sway to the hoisting ropes of the crane system. This paper addresses the problem of robust sliding mode control for offshore container crane systems subject to bounded disturbances and uncertain parameters. The mathematical model of an offshore container crane is first derived whereas the effects of ocean waves and gusty winds are taken into account. Then, based on the linear quadratic regulator (LQR) design, a sliding surface is obtained to meet the required performance and stable dynamics for the closed-loop system. Finally, a robust sliding mode controller is proposed to drive the state trajectories of the offshore container crane system towards the sliding surface in finite time and maintain them subsequently on that surface. Simulation results are given to show that the proposed controller can significantly suppress the effects of uncertainties and disturbances from the vessel's wave-and wind-induced motion and wind drag force on the payload.

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A Graphical Approach to Input-Shaping Control Design for Container Cranes With Hoist

Cited by 65 publications

References 9 publications

Simultaneous Travel and Hoist Maneuver Input Shaping Control Using Frequency Modulation

Simultaneous Travel and Hoist Maneuver Input Shaping Control Using Frequency Modulation

Discrete-time command profile for simultaneous travel and hoist maneuvers of overhead cranes

Offshore Container Crane Systems with Robust OptimalSliding Mode Control

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