Simultaneous Travel and Hoist Maneuver Input Shaping Control Using Frequency Modulation

Arabasi, Sameer; Masoud, Ziyad N.

doi:10.1155/2017/5703820

Cited by 12 publications

(6 citation statements)

References 29 publications

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“…When crane systems include simultaneous hoisting and trolley moving, which are more complex than fixed rope length systems, several input shaping methods are reported, such as the smooth waveform command shaping technique (Alhazza, 2016), an anti-vibration control using trapezoidal velocity patterns (Gao et al, 2007), negative zero vibration (NZV) shaper (Cao et al, 2021), and unit magnitude zero vibration (UMZV) shaper (Maghsoudi et al, 2019). To address issues of residual oscillations, discrete-time command-profile (Alghanim et al, 2015), polynomial command shapers with adjustable maneuver times (Alghanim et al, 2018), and input shaping with frequency modulation (Arabasi and Masoud, 2017) have been proposed. These methods can achieve good anti-sway effect or eliminate residual oscillation, but cannot control the magnitude of the swing angle.…”

Section: Introductionmentioning

confidence: 99%

Anti-sway control of variable rope length container crane based on phase plane trajectory planning

Huang

Niu

Zhou

et al. 2023

Journal of Vibration and Control

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An overhead crane system is a complex time-varying system if it includes simultaneous hoisting and moving operations. To address the problem that time-varying systems usually have no exact analytical solution, an anti-swing method based on linear approximation of the phase plane trajectory is proposed. Specifically, the phase plane trajectory of the swing angle is first analyzed and it is found that the double-step acceleration method with unequal acceleration amplitude and acceleration time has a combination of limit loops in the phase plane trajectory of the swing angle when the rope length varies, so the average rope length of each section is used to approximate the natural oscillation frequency. Next, the input shaping technique is used to shape the input signal into the desired output signal so that the load swing angle can follow the planned trajectory. The desired acceleration amplitude and switching time are then derived based on the geometric relationship between the swing angle in the phase plane and the specific physical constraints. Finally, the feasibility of the proposed method is verified by numerical simulations.

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Section: Introductionmentioning

confidence: 99%

Anti-sway control of variable rope length container crane based on phase plane trajectory planning

Huang

Niu

Zhou

et al. 2023

Journal of Vibration and Control

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“…Most recently, an adaptive Kalman filter has been used to account for unmodeled disturbances such as friction in a model-based feedback crane control system [41]. Arabasi and Masoud [42] presented a frequencymodulation input-shaping control scheme that allows for simultaneous hoist and travel maneuvers of simple-pendulum overhead cranes. The approach is based on the use of model-based feedback to match the simple-pendulum frequency to a single-mode input-shaper.…”

Section: Introductionmentioning

confidence: 99%

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

Arabasi

Masoud

2022

IEEE Access

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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.

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“…Zhou et al [24] proposed an improved ZV method to control the payload swing of grab ship unloader considering single pendulum model with variable rope length. Arabasi and Masoud [25] investigated a new input shaper applied to overhead crane, which involved simultaneous lifting and moving operations. Maghsoudi et al [26] proposed an improved input shaping method to effectively control the swing of a nonlinear model with friction for overhead crane, in which a particle swarm optimization algorithm was used.…”

Section: Introductionmentioning

confidence: 99%

An improved negative zero vibration anti-swing control strategy for grab ship unloader based on elastic wire rope model

Cao

Meng

Zhou

et al. 2021

Mechanics & Industry

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A dynamic model of swing system of bridge-type ship unloader is established by considering the elastic factor of wire rope in this paper. Based on this model, an improved Negative Zero Vibration (NZV) shaper with optimal control parameters of variable rope length system is proposed to restrain the swing of grab. Then the control effects, influence of elasticity factor and parameter sensitivities are analyzed based on numerical simulation. The results show that the proposed control strategy can reduce the working cycle time of the grab ship unloader about 11% when considering the elastic factor of the wire rope, and the grab's maximum residual swing angle decreases by 67% when discharging at full load, and decreases by 79% when taking the cargos at empty load. This implies that the improved NZV control method provides better swing angle control performance and shorter operation time compared with the Zero Vibration (ZV) and Zero Vibration and Derivative (ZVD) methods. Moreover, elastic rope model can improve the swing angle control effect of grab based on the proposed control strategy compared with rigid rope model. The parameter sensitivity analysis displays that the grab's maximum residual swing angle by using the improved NZV method is sensitive to the change of the grab's center of gravity, and this angle is more sensitive to the wire rope diameter deviation compared with the elastic modulus deviation.

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Simultaneous Travel and Hoist Maneuver Input Shaping Control Using Frequency Modulation

Cited by 12 publications

References 29 publications

Anti-sway control of variable rope length container crane based on phase plane trajectory planning

Anti-sway control of variable rope length container crane based on phase plane trajectory planning

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

An improved negative zero vibration anti-swing control strategy for grab ship unloader based on elastic wire rope model

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