A Novel Wave-Form Command-Shaping Control With Application on Overhead Cranes

ASME 2010 Dynamic Systems and Control Conference, Volume 2 ◽

10.1115/dscc2010-4132 ◽

2010 ◽

Cited By ~ 7

Author(s):

Khaled A. Alhazza ◽

Ziyad N. Masoud

Keyword(s):

Harmonic Oscillator ◽

Control Strategy ◽

Wave Form ◽

Overhead Crane ◽

Command Shaping ◽

Overhead Cranes ◽

Simple Harmonic Oscillator

In this work, a novel continuous command-shaping control strategy for a simple harmonic oscillator is proposed and implemented on an overhead crane model. A Wave-Form (WF) acceleration command profile is derived analytically, and its performance is validated numerically. To enhance the performance of the proposed command-shaping control strategy, a Modulated Wave-Form (MWF) acceleration command profile is derived. It was determined that the proposed Wave-Form and Modulated Wave-Form command profiles are capable of eliminating the travel and residual oscillations. Furthermore, unlike traditional impulse and step command-shaping, the proposed command profiles have smoother intermediate acceleration, velocity, and displacement profiles.

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A Continuous Modulated Wave-Form Command Shaping for Damped Overhead Cranes

Volume 4: 8th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A and B ◽

10.1115/detc2011-48336 ◽

2011 ◽

Cited By ~ 2

Author(s):

Khaled A. Alhazza ◽

Asmahan H. Al-Shehaima ◽

Ziyad N. Masoud

Keyword(s):

Control Strategy ◽

Damping Ratio ◽

Harmonic Oscillators ◽

Wave Form ◽

Double Step ◽

Command Shaping ◽

Overhead Cranes ◽

Input Shaper ◽

Displacement Profile ◽

System Properties

A new command-shaping control strategy for oscillation reduction of damped harmonic oscillators is derived and implemented on damped overhead cranes. The effect of damping on the shaper frequency and duration is investigated. The performance of the proposed simper is simulated numerically and compared with the classical double-step input-shaper for different system properties. It was shown that, the proposed wave-form command profiles are capable of eliminating the travel and residual oscillations for systems with different damping ratio. Further, unlike traditional impulse and step command shapers, the proposed command profiles have smoother intermediate acceleration, velocity, and displacement profile.

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Adjustable maneuvering time wave-form command shaping control with variable hoisting speeds

Journal of Vibration and Control ◽

10.1177/1077546315588881 ◽

2016 ◽

Vol 23 (7) ◽

pp. 1095-1105 ◽

Cited By ~ 9

Author(s):

Khaled A Alhazza

Keyword(s):

Continuous Wave ◽

Equation Of Motion ◽

Approximation Technique ◽

Wave Form ◽

Input Shaping ◽

Overhead Crane ◽

Algorithm Optimization ◽

Optimization Scheme ◽

Command Shaping ◽

Pendulum Model

Classical input shaping is based on convolving a general input signal with a sequence of timed impulses. These impulses are chosen to match certain modal parameters of the system under control to eliminate residual vibrations in rest-to-rest maneuvers. This type of input shaping is strongly dependent on the system period. In this work, an adjustable maneuvering time wave form command shaper is presented. The equation of motion of a simple pendulum model of a crane is derived and solved in order to eliminate residual vibrations at the end of motion. Several cases are simulated numerically and validated experimentally on an experimental model of an overhead crane. Results show that the proposed command shaper is capable of eliminating residual vibrations effectively with a single continuous wave form command. The work is extended to include the effect of hoisting on the shaper performance. Several functions are used to simulate hoisting. To overcome the added complexity of hoisting on the system, an approximation technique is used to determine initial shaped command parameters, which are later used in a genetic algorithm optimization scheme. Numerical and experimental results prove that the proposed command shaper can effectively eliminate residual vibrations in rest-to-rest maneuvers.

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A Smooth Wave-Form Command Shaping Control

Volume 8: 22nd Reliability, Stress Analysis, and Failure Prevention Conference; 25th Conference on Mechanical Vibration and Noise ◽

10.1115/detc2013-12768 ◽

2013 ◽

Cited By ~ 3

Author(s):

Khaled A. Alhazza ◽

Ziyad N. Masoud ◽

Nehal Alotaibi

Keyword(s):

Experimental Results ◽

Harmonic Oscillators ◽

Wave Form ◽

Overhead Crane ◽

Scaled Model ◽

Smoothing Techniques ◽

Command Shaping ◽

Shaping Technique ◽

Multi Mode ◽

Smooth Acceleration

To avoid excitation of higher modes of flexible and multi-mode systems, it is important to eliminate sudden and jerky inputs. To achieve this goal, researchers tend to use different smoothing techniques to reduce the effect of the command roughness. In this work, a new smooth command-shaping technique for oscillation reduction of simple harmonic oscillators is proposed. A continuous smooth wave-form acceleration command-shaper is proposed. The shaper parameters are tuned to eliminate residual vibrations in rest-to-rest maneuvers. The performance of the proposed shaper is determined analytically, simulated numerically, and validated experimentally on a scaled model of an overhead crane. Results obtained show that the proposed smooth wave-form shaper is capable of eliminating travel and residual oscillations. Furthermore, unlike traditional step command shapers, the proposed command profiles have completely smooth acceleration, velocity, and displacement profiles. Experimental results demonstrate the ability of our proposed smooth wave-form commands to eliminate residual vibrations at the end of rest-to-rest maneuvers.

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Harmonic Oscillators with Nonlinear Damping

International Journal of Bifurcation and Chaos ◽

10.1142/s0218127417300373 ◽

2017 ◽

Vol 27 (11) ◽

pp. 1730037 ◽

Cited By ~ 8

Author(s):

J. C. Sprott ◽

W. G. Hoover

Keyword(s):

Dynamical Systems ◽

Harmonic Oscillator ◽

Strange Attractor ◽

Nonlinear Damping ◽

Harmonic Oscillators ◽

Coexisting Attractors ◽

Simple Harmonic Oscillator ◽

Interesting Behavior

Dynamical systems with special properties are continually being proposed and studied. Many of these systems are variants of the simple harmonic oscillator with nonlinear damping. This paper characterizes these systems as a hierarchy of increasingly complicated equations with correspondingly interesting behavior, including coexisting attractors, chaos in the absence of equilibria, and strange attractor/repellor pairs.

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