Comparative Analysis of Input Shaping Techniques for Sway Control of Nonlinear Crane System

Authors

  • nura musa tahir Abubakar Tabawa Balewa University Bauchi,Nigeria (ATBU)

Abstract

This paper compares output based input shaping with a conventional command shaping in suppressing sway of a nonlinear crane system. The output-based input shaping filter is designed using the output signal of the target system while conventional input shaping filters are designed using the natural frequency and damping ratio of the system. Zero vibration (ZV), zero vibration derivative (ZVD), zero vibration derivative, derivatives (ZVDD) and zero vibration and triple derivative (ZVDDD) were designed and compared with the output based filter to investigate the performances and robustness of the filters. Level of sway reduction of the payload and time response analysis is used to assess the performance of the shapers. Simulation results showed that the output based filter has a better performance and it is more robust compared to the conventional input shapers and does not require model information of the system.

Author Biography

nura musa tahir, Abubakar Tabawa Balewa University Bauchi,Nigeria (ATBU)

Department of Mechatronics and System Engineering, Lecturer

References

C. Hongjun, G. Bingtuan, and Z. Xiaohua, "Dynamical modelling and nonlinear control of a 2D crane," in Proceedings of International Conference on Control and Automation, 2005. ICCA '05. 2005, pp. 1085-1090 Vol. 2.

Y. Jisup, S. Nation, W. Singhose, and J. E. Vaughan, "Control of Crane Payloads That Bounce During Hoisting," IEEE Transactions on Control Systems Technology, vol. 22, pp. 1233-1238, 2014.

S. Garrido, M. Abderrahim, A. Giménez, R. Diez, and C. Balaguer, "Anti-swinging input shaping control of an automatic construction crane," Automation Science and Engineering, IEEE Transactions on, vol. 5, pp. 549-557,

N. M. Tahir, A. G. Ibrahim, H. Liman, "Hybrid Control of Non-linear Crane System," Journal of Mechanical Engineering and Technology, Vol. 9, PP 71-86, 2017.

W. Singhose, "Command shaping for flexible systems: A review of the first 50 years," International Journal of Precision Engineering and Manufacturing, vol. 10, pp. 153-168, 2009.

N. C. Singer and W. P. Seering, "Preshaping command inputs to reduce system vibration," Journal of Dynamic Systems, Measurement, and Control, vol. 112, pp. 76-82, 1990.

W. E. Singhose, W. P. Seering, and N. C. Singer, "Shaping inputs to reduce vibration: a vector diagram approach," in IEEE Proceedings of International Conference on Robotics and Automation, 1990, 1990, pp. 922-927 vol.2.

W. Singhose, N. C. Singer, and W. P. Seering, "Design and implementation of time-optimal negative input shapers," in Proceedings of the 1994 International Mechanical Engineering Congress and Exposition, 1994, pp. 151-157.

K. L. Sorensen, K. Hekman, and W. E. Singhose, "Finitestate input shaping," Control Systems Technology, IEEETransactions on, vol. 18, pp. 664-672, 2010.

W. Singhose, S. Derezinski, and N. Singer, "Extra-insensitive input shapers for controlling flexible spacecraft," Journal of Guidance, Control, and Dynamics, vol. 19, pp. 385-391, 1996.

E. A. Crain, W. E. Singhose, and W. P. Seering, "Derivation and properties of convolved and simultaneous two-mode input shapers," in IFAC World Congress, 1996, pp. 441-446.

L. Pao and W. Singhose, "Unity magnitude input shapers and their relation to time-optimal control," in IFAC World Congress, 1996, pp. 385-390.

A. B. Alhassan, Z. Mohamed, A. M. Abdullahi, A. A. Bature, A. Harun, N. M. Tahir “Input shaping comparison for sway control of rotary crane system” Journal Teknologi, vol. 80, pp. 61-69, 2018.

N. M. Tahir, S. M. Hassan, Z. Mohamed, A. G. Ibrahim, "Output Based Input Shaping for Optimal Control of Single Link Flexible Manipulator" International Journal on Smart Sensing and Intelligent Systems. Vol. 10, PP. 367-386, 2017.

M. Sahinkaya, "Input shaping for vibration-free positioning of flexible systems," Proceedings of the Institution of mechanical engineers, part I: Journal of Systems and Control Engineering, vol. 215, pp. 467-481, 2001.

X. Xie, J. Huang, and Z. Liang, "Using the continuous function to generate shaped command for vibration reduction," Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, vol. 227, pp. 523-528, 2013.

W. Singhose and J. Vaughan, "Reducing vibration by digital filtering and input shaping," IEEE Transactions on Control Systems Technology, vol. 19, pp. 1410-1420, 2011.

S. K. Biswas, "Optimal control of gantry crane for minimum payload oscillations," Proceedings of Dynamic Systems and applications. Atlanta, USA, pp. 12-19, 2004.

Y. Yoshida and H. Tabata, "Visual feedback control of an overhead crane and its combination with time-optimal control." Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Xian,

China, pp. 1114-1119, 2008.

B. T. Gao, H. J. Chen, X. H. Zhang, and H. Qi, "A practical optimal controller for underactuated gantry crane systems." Proceedings of IEEE International Symposium on Systems and Control in Aerospace and Astronautics. Harbin, China,

pp. 726-730, 2006.

F. M. Aldebrez, M. S. Alam, and M. O. Tokhi, "Inputshaping with GA-tuned PID for target tracking and vibration reduction," Proceedings of the 2005 IEEE International Symposium on Intelligent Control, Mediterranean

Conference on Control and Automation, 2005.

M. Alaml and M. Tokhi, "Design of a Command Shaper for Vibration Control of Flexible Systems: A Genetic Algorithm Optimisation Approach,"Low-Frequency Noise, Vibration and Active Control vol. 26, pp. 295-310, 2007.

M. Alam and M. Tokhi, "Designing feedforward command shapers with multi-objective genetic optimisation for vibration control of a single-link flexible manipulator," Engineering Applications of Artificial Intelligence vol. 21,

pp. 229-246, 2008a.

M. Alam and M. Tokhi, "Hybrid fuzzy logic control with genetic optimisation for a single-link flexible manipulator," Engineering Applications of Artificial Intelligence vol. 21, pp. 858-873, 2008.

S. Bouallègue, J. Haggège, M. Ayadi, and M. Benrejeb, "PID-type fuzzy logic controller tuning based on particle swarm optimization," Engineering Applications of Artificial Intelligence, vol. 25, pp. 484-493, 2012.

C. N. Ko, "A Fuzzy PID Controller Based on Hybrid Optimization Approach for an Overhead Crane," Next Wave in Robotics, pp. 202-209, 2011.

M. A. Karkoub and M. zribi, "Robust control schemes for an overhead crane," Journal of Vibration and Control, vol. 7(3), pp. 395-416, 2001.

T. W. Yang and W. J. O'Connor, "Wave based robust control of a crane system," Proceedings of IEEE International Conference on Intelligent Robots and Systems Beijing, China, pp. 2724-2729, 2006.

H. C. Cho, J. W. Lee, Y. J. Lee, and K. S. Lee, "Lyapunov theory based robust control of complicated nonlinear mechanical systems with uncertainty," ournal of Mechanical Science and Technology, vol. 22(11), pp. 2142-2150, 2008.

Z. M. Chen, W. J. Meng, M. H. Zhao, and J. G. Zhang, "Hybrid robust control for gantry crane system," In. Tan, H. H. (Ed.) Applied Mechanics and Mechanical Engineering. USA: Tranc Tech Publications Inc., vol. 29, pp. 2082-2088, 2010.

M. J. Maghsoudi, Z. Mohamed, A. R. Husain, and H. I. Jaafar, “Improved Input Shaping Technique for a Nonlinear System,” 2014 IEEE International Conference on Control System, Computing and Engineering, 28 - 30 November 2014, Penang, Malaysia., pp. 28–30, 2014.

D. Blackburn, W. Singhose, J. Kitchen, V. Patrangenaru, J. Lawrence, and T. Kamoi, “Command Shaping for Nonlinear Crane Dynamics,” J. Vib. Control, 2010.

J. Vaughan, A. Yano, and W. Singhose, “Performance comparison of robust input shapers,” J. Sound Vib., pp. 3257–3262, 2008.

J. Han, Z. Zhu, Y. He, and J. Qi, “A novel input shaping method based on system output,” J. Sound Vib., vol. 335, pp. 338–349, 2015.

I. Publishing, Z. Zhu, K. Liu, Y. He, and J. Han, "Sensors and Transducers An Input Shaping Method Based on System Output," sensors and transducers, vol. 172, no. 6, pp. 254–262, 2014.

Downloads

Published

2018-10-26

How to Cite

tahir, nura musa. (2018). Comparative Analysis of Input Shaping Techniques for Sway Control of Nonlinear Crane System. International Journal of Electrical Engineering and Applied Sciences (IJEEAS), 1(2), 13–20. Retrieved from https://ijeeas.utem.edu.my/ijeeas/article/view/4424

Issue

Vol. 1 No. 2 (2018): Electrical Engineering and Applied Sciences

Section

Articles

License

Authors who publish with this journal agree to the following terms:

  1. Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
  2. Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
  3. Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).