Frequency-Modulation Input-Shaping Strategy for Double-Pendulum Overhead Cranes Undergoing Simultaneous Hoist and Travel Maneuvers

Abstract

Large payloads hoisted by overhead cranes exhibit the same behavior as that of a double-pendulum. Changes in the hoisting cable length during payload transfer maneuvers give rise to time-dependent system frequencies rendering input-shaped commands ineffective. In this paper, a frequencymodulation input-shaping strategy that enables simultaneous hoist and travel maneuvers using single-mode input-shaping is presented. This strategy utilizes model-based feedback and partial feedback linearization techniques. Simulations are carried out using arbitrary travel and hoist commands combined with the common single-mode zero-vibration (ZV) and zero-vibration-derivative (ZVD) input-shapers. Sensitivity analysis reveals robust performance in the presence of high system uncertainties.

Active damping methods to suppress the payload swing by a 3‐degree of freedom cable‐driven parallel robot

“…The method of electronic payload anti-swing mainly relies on modern control theory, which mainly includes open loop and closed loop control. Many applications are trajectory planning [12,13], adaptive control [14][15][16], input shaping technology [7,[17][18][19], sliding mode control [20][21][22], robust control [23], energy forming control [24], and so on. Aiming at the problem that the base of the marine crane is disturbed by the ship motion, Fang et al [25] designed a nonlinear controller based on sliding mode control.…”

Optimization-Based Input-Shaping Swing Control of Overhead Cranes

“…The anti-swing performance was verified with experiments, but the time delay and stability of the shaper were not taken into account. Based on model feedback and partial feedback linearization, a frequency adjustment strategy for input shaping was used in reference [8]. In reference [9], an EI shaper and a closed-loop control method based on swing angle estimation were designed for a tower crane, and the results showed that the EI shaper was more effective 2 of 21 in swing suppression.…”