Anti-Sway Control Schemes of a Boom Crane Using Command Shaping Techniques

This paper presents investigations into the applications and performance of command shaping techniques for control of payload sway of a boom crane based on filtering and the input shaping technique. The mathematical dynamic model describing the motion of the boom crane is developed using the Lagrange-Euler's equation. The dynamic characteristics of the system are studied and analysed using the Matlab Simulink in time and frequency domains. Command shaping techniques based on filtering and the input shaping techniques are then developed and used to control the payload sway of the boom crane. The performance of the control techniques are studied in terms of the level of sway reduction, time response and robustness. Finally, a comparative assessment of the effectiveness of the control schemes for sway control of a boom crane is presented and discussed.

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A Concise Review of Control Techniques for Reliable and Efficient Control of Induction Motor

International Journal of Power Electronics and Drive Systems (IJPEDS) ◽

10.11591/ijpeds.v9.i3.pp1124-1139 ◽

2018 ◽

Vol 9 (3) ◽

pp. 1124

Author(s):

Abdullah Alwadie

Keyword(s):

Induction Motor ◽

Research Work ◽

Optimization Techniques ◽

Future Research ◽

Variable Frequency ◽

Control Techniques ◽

Control Scheme ◽

Control Schemes ◽

Variable Frequency Drives ◽

And Performance

<span style="color: black; font-family: 'Times New Roman','serif'; font-size: 10pt; mso-fareast-font-family: SimSun; mso-themecolor: text1; mso-ansi-language: EN-US; mso-fareast-language: EN-US; mso-bidi-language: AR-SA;">Induction motors are work-horse of the industry and major element in energy conversion. The replacement of the existing non-adjustable speed drives with the modern variable frequency drives would save considerable amount of electricity. A proper control scheme for variable frequency drives can enhance the efficiency and performance of the drive. This paper attempt to provide a rigorous review of various control schemes for the induction motor control and provides critical analysis and guidelines for the future research work. A detailed study of sensor based control schemes and sensor-less control schemes has been investigated. The operation, advantages, and limitations of the various control schemes are highlighted and different types of optimization techniques have been suggested to overcome the limitations of control techniques</span>

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Hybrid Learning Control With Input Shaping for Input Tracking and Vibration Suppression of a Flexible Manipulator

Volume 1 ◽

10.1115/esda2004-58239 ◽

2004 ◽

Author(s):

M. Z. Md Zain ◽

M. O. Tokhi ◽

Z. Mohamed

Keyword(s):

Iterative Learning Control ◽

Vibration Suppression ◽

Hybrid Learning ◽

Learning Control ◽

Iterative Learning ◽

Body Motion ◽

Flexible Manipulator ◽

Input Shaping ◽

Control Schemes ◽

Frequency Domains

The objective of the work reported in this paper is to investigate the development of hybrid iterative learning control with input shaping for input tracking and end-point vibration suppression of a flexible manipulator. The dynamic model of the system is derived using the finite element method. Initially, a collocated proportional-derivative (PD) controller utilizing hub-angle and hub-velocity feedback is developed for control of rigid-body motion of the system. This is then extended to incorporate iterative learning control and a feedforward controller based on input shaping techniques for control of vibration (flexible motion) of the system. Simulation results of the response of the manipulator with the controllers are presented in the time and frequency domains. The performance of the hybrid learning control with input shaping scheme is assessed in terms of input tracking and level of vibration reduction. The effectives of the control schemes in handling various payloads are also studied.

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Techniques for vibration control of a flexible robot manipulator

Robotica ◽

10.1017/s0263574705002511 ◽

2006 ◽

Vol 24 (4) ◽

pp. 499-511 ◽

Cited By ~ 29

Author(s):

Z. Mohamed ◽

A. K. Chee ◽

A. W. I. Mohd Hashim ◽

M. O. Tokhi ◽

S. H. M. Amin ◽

...

Keyword(s):

Vibration Control ◽

Robot Manipulator ◽

Flexible Manipulator ◽

Flexible Robot ◽

Command Shaping ◽

Parameters Uncertainty ◽

Frequency Domains ◽

And Performance ◽

The Impact ◽

Input Shaping Control

This paper presents investigations into the applications and performance of positive and negative input shapers in command shaping techniques for the vibration control of a flexible robot manipulator. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the finite element method. An unshaped bang-bang torque input is used to determine the characteristic parameters of the system for design and evaluation of the input shaping control techniques. The positive and specified amplitude negative input shapers are designed based on the properties of the system. Simulation results of the response of the manipulator to the shaped inputs are presented in the time and frequency domains. Performances of the shapers are examined in terms of level of vibration reduction, time response specifications and robustness to parameters uncertainty. The effects of derivative order of the input shaper on the performance of the system are investigated. Finally, a comparative assessment of the impact amplitude polarities of the input shapers on the system performance is presented and discussed.

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Hybrid control schemes for input tracking and vibration suppression of a flexible manipulator

Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering ◽

10.1177/095965180321700104 ◽

2003 ◽

Vol 217 (1) ◽

pp. 23-34 ◽

Cited By ~ 3

Author(s):

Z Mohamed ◽

M O Tokhi

Keyword(s):

Pid Controller ◽

Vibration Suppression ◽

Hybrid Control ◽

Body Motion ◽

Flexible Manipulator ◽

Input Shaping ◽

The Finite Element Method ◽

Control Schemes ◽

Frequency Domains ◽

Feedforward Controller

This paper presents investigations into the development of hybrid control schemes for input tracking and end-point vibration suppression of a flexible manipulator system. The dynamic model of the flexible manipulator is derived using the finite element method. Initially, a collocated proportional-derivative (PD) controller utilizing hub angle and hub velocity feedback is developed for control of rigid-body motion of the system. This is then extended to incorporate a non-collocated proportional-integral-derivative (PID) controller and a feedforward controller based on input shaping techniques for control of vibration (flexible motion) of the system. Simulation results of the response of the manipulator with the controllers are presented in time and frequency domains. The performances of the hybrid control schemes are assessed in terms of input tracking and level of vibration reduction in comparison to the PD control. The effectiveness of the control schemes in handling various payloads is also studied. Finally, a comparative assessment of the hybrid control schemes is presented.

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Reduction of Transient Payload Swing in a Harmonically Excited Boom Crane by Shaping Luff Commands

Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications ◽

10.1115/dscc2017-5247 ◽

2017 ◽

Cited By ~ 3

Author(s):

Daniel Newman ◽

Joshua Vaughan

Keyword(s):

Closed Loop ◽

Open Loop ◽

Input Shaping ◽

Control Methods ◽

Open Loop Control ◽

Governing Equations ◽

Loop Control ◽

Command Shaping ◽

Significant Challenge ◽

Boom Crane

The control of boom cranes is a topic that has generated a significant amount of research. Particularly, cranes mounted on ocean-going ships pose a significant challenge. Due to the harmonic disturbance resulting from ocean conditions, open-loop control methods such as input shaping have been largely ignored in this area of research. This work will develop linearized governing equations for a planar, harmonically-excited boom crane. Using these approximations, a command-shaping strategy that minimizes payload deflection during and shortly after a luff command will be presented. It is anticipated that this method will be used to smooth the transition to a closed-loop controller which engages after the operator-given command is complete.

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Multi-Mode Vibration Suppression in MIMO Systems by Extending the Zero Placement Input Shaping Technique: Applications to a 3-DOF Piezoelectric Tube Actuator

Actuators ◽

10.3390/act5020013 ◽

2016 ◽

Vol 5 (2) ◽

pp. 13 ◽

Cited By ~ 4

Author(s):

Yasser Al Hamidi ◽

Micky Rakotondrabe

Keyword(s):

Vibration Suppression ◽

Mimo Systems ◽

Input Shaping ◽

Shaping Technique ◽

Mode Vibration ◽

Multi Mode

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A concurrent design of input shaping technique and a robust control for high-speed/high-precision control of a chip mounter

Control Engineering Practice ◽

10.1016/s0967-0661(01)00092-2 ◽

2001 ◽

Vol 9 (12) ◽

pp. 1279-1285 ◽

Cited By ~ 20

Author(s):

Pyung Hun Chang ◽

Juyi Park

Keyword(s):

Robust Control ◽

High Precision ◽

High Speed ◽

Input Shaping ◽

Concurrent Design ◽

Precision Control ◽

Shaping Technique

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Integration of input shaping technique with interpolation for vibration suppression of servo-feed drive system

Journal of the Chinese Institute of Engineers ◽

10.1080/02533839.2017.1314197 ◽

2017 ◽

Vol 40 (4) ◽

pp. 284-295 ◽

Cited By ~ 4

Author(s):

Meng-Shiun Tsai ◽

Ying-Che Huang ◽

Ming-Tzong Lin ◽

Shih-Kai Wu

Keyword(s):

Vibration Suppression ◽

Drive System ◽

Input Shaping ◽

Shaping Technique ◽

Feed Drive ◽

Feed Drive System

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Leveraging Flow Regeneration in Individual Energy-Efficient Hydraulic Drives

10.1115/fpmc2021-68594 ◽

2021 ◽

Author(s):

Damiano Padovani

Keyword(s):

Natural Frequency ◽

Dynamic Properties ◽

Poor Performance ◽

Control Techniques ◽

Lower Natural Frequency ◽

Operating Region ◽

Depth Analysis ◽

Study Case ◽

Boom Crane ◽

Circuit Configuration

Abstract The current demand for energy efficiency in hydraulics directs towards the replacement of centralized, valve-controlled actuators with individual, throttleless drives. The resulting solutions often require an undesirable sizing of the key components to expand the system’s operating region. Using flow regeneration (i.e., shortcutting the actuator’s chambers) mitigates this issue. Such an option, already stated for individual drives, lacks an in-depth analysis from the control perspective since the dynamic properties are changed (e.g., the natural frequency is decreased to about 60% of the original value). Therefore, this research paper studies a representative single-pump architecture arranged in a closed-circuit configuration. Linear control techniques are used to understand the system dynamics and design a PI-control algorithm that also adds active damping. The outcomes are validated via high-fidelity simulations referring to a single-boom crane as the study case. The results encompassing diverse scenarios indicate that flow regeneration is only interesting in those applications where the dynamic response is not demanding. In fact, the lower natural frequency reduces the system’s bandwidth to about 69% of the original value and affects the closed-loop position tracking drastically. This poor performance becomes evident when medium-to-high actuation velocity is commanded with respect to the maximum value.

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