Multi-input shaping control for multi-hoist cranes

Vaughan, Joshua; Yoo, Jieun; Knight, Nathan L.; Singhose, William

doi:10.1109/acc.2013.6580364

Cited by 18 publications

(13 citation statements)

References 17 publications

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“…Simulated and experimental results verified the effectiveness on a model of a double-pendulum overhead crane [13]. Singhose and Vaughan designed a multi-mode input shaper to reduce double-pendulum oscillations for the multi-hoist cranes [17][18]. Experimental results from a two-hoist crane demonstrated the effectiveness of the method.…”

Section: Introductionmentioning

confidence: 56%

“…The input-shaping technique can effectively reduce the oscillatory dynamics of many types of double-pendulum cranes including bridge crane [10][11][12][13], tower crane [14][15], boom crane [16], and multi-hoist crane [17][18]. Input-shaping eliminates unwanted oscillations by convolving the human-generated command with a sequence of impulses to drive a crane.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Dynamics and swing control of double-pendulum bridge cranes with distributed-mass beams

Huang

Liang

Zang

2015

Mechanical Systems and Signal Processing

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Section: Introductionmentioning

confidence: 56%

Section: Introductionmentioning

confidence: 99%

Dynamics and swing control of double-pendulum bridge cranes with distributed-mass beams

Huang

Liang

Zang

2015

Mechanical Systems and Signal Processing

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“…Input shaping is one of the most used open loop techniques, mostly based on a linearized system, that can be applied in real time, mainly for control of the oscillations of the payload. Anti-swing crane controls using input shaping have been widely implemented in the literature [5]- [6]. Concerning closed loop techniques, Proportional Integral Derivative (PID) control laws have been proposed for instance in [4], where the authors proposed a position control of a gantry crane system.…”

Section: Introductionmentioning

confidence: 99%

Oscillation Reduction for Knuckle Cranes

Ambrosino

Thierens²,

Dawans³

et al. 2020

Proceedings of the 37th International Symposium on Automation and Robotics in Construction (ISARC)

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Boom cranes are among the most common material handling systems due to their simple design. Some boom cranes also have an auxiliary jib connected to the boom with a flexible joint to enhance the maneuverability and increase the workspace of the crane. Such boom cranes are commonly called knuckle boom cranes. Due to their underactuated properties, it is fairly challenging to control knuckle boom cranes. To the best of our knowledge, only a few techniques are present in the literature to control this type of cranes using approximate models of the crane. In this paper we present for the first time a complete mathematical model for this crane where it is possible to control the three rotations of the crane (known as luff, slew, and jib movement), and the cable length. One of the main challenges to control this system is how to reduce the oscillations in an effective way. In this paper we propose a nonlinear control based on energy considerations capable of guiding the crane to desired sets points while effectively reducing load oscillations. The corresponding stability and convergence analysis is proved using the LaSalle's invariance principle. Simulation results are provided to demonstrate the effectiveness and feasibility of the proposed method.

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“…Simulations and experiments verified the effectiveness of the input shaper in dual cranes. [19][20][21] Nonetheless, natural frequency should be used for the design of the input shaper. Little research has been focused on the estimates of the natural frequencies in threedimensional dual cranes because of complicated dynamics.…”

Section: Introductionmentioning

confidence: 99%

Dynamics and control of three-dimensional dual cranes transporting a bulky payload

Huang

Zhu

2020

Proceedings of the Institution of Mechanical Engineers, Part C:

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The inevitable oscillations of the payload decrease the positioning accuracy and lessen the safety in dual cranes carrying a large payload. In the presence of the structural flexibility, the dynamics of dual cranes are governed by the payload swing, pitch, and twisting after considering three-dimensional motions. However, little research has been directed at the modeling and control of three-dimensional dual cranes. A dynamic model of three-dimensional dual cranes including the payload swing, pitch and twisting is described. Moreover, a combined modified extra-insensitive input shaper and four-pieces smoother method is proposed to control the swing, pitch, and twisting of the payload. The dynamic behavior of the nonlinear model and the effectiveness of the new control method are verified experimentally on dual cranes carrying a slender beam.

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Multi-input shaping control for multi-hoist cranes

Cited by 18 publications

References 17 publications

Dynamics and swing control of double-pendulum bridge cranes with distributed-mass beams

Dynamics and swing control of double-pendulum bridge cranes with distributed-mass beams

Oscillation Reduction for Knuckle Cranes

Dynamics and control of three-dimensional dual cranes transporting a bulky payload

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