Robust Input Shaping for Sway Control of an Overhead 3D Crane

Authors

  • A. M. Abdullahi Faculty of Electrical Engineering, Universiti Teknologi Malaysia, 81310 Johor Bahru, Johor, Malaysia. Department of Mechatronics Engineering, Faculty of Electrical, Bayero University Kano 3011, Nigeria.
  • Z. Mohamed Faculty of Electrical Engineering, Universiti Teknologi Malaysia, 81310 Johor Bahru, Johor, Malaysia.
  • H. Selamat Faculty of Electrical Engineering, Universiti Teknologi Malaysia, 81310 Johor Bahru, Johor, Malaysia.
  • M.S. Zainal Abidin Faculty of Electrical Engineering, Universiti Teknologi Malaysia, 81310 Johor Bahru, Johor, Malaysia.
  • A. Haruna Faculty of Electrical Engineering, Universiti Teknologi Malaysia, 81310 Johor Bahru, Johor, Malaysia. Department of Mechatronics Engineering, Faculty of Electrical, Bayero University Kano 3011, Nigeria.
  • L. Ramli Faculty of Electrical Engineering, Universiti Teknologi Malaysia, 81310 Johor Bahru, Johor, Malaysia.
  • A. A. Bature Faculty of Electrical Engineering, Universiti Teknologi Malaysia, 81310 Johor Bahru, Johor, Malaysia. Department of Mechatronics Engineering, Faculty of Electrical, Bayero University Kano 3011, Nigeria.

Keywords:

3D Overhead Crane, Hoisting, Payload Sway, Robust Shaper, Wind Disturbance

Abstract

This paper presents a robust input shaping control of an overhead 3D crane. Control of a crane in the presence of wind disturbance during payload hoisting is extremely challenging, as hoisting with wind disturbance causes high unwanted payload sway, which makes payload positioning difficult to achieve. Two robust input shaping techniques are presented, the zero vibration derivative-derivative (ZVDD) and extra insensitive (EI) shapers. Simulations using a nonlinear 3D overhead crane model were performed and the performances of the two robust input shapers are compared. In these investigations a wind disturbance force of magnitude 0.3 N is considered for the robustness test, in addition different payload mass were tested. It is predicted that the method can be very useful in reducing the complexity of closed-loop controllers for both tracking and sway control.

References

Y. Jisup, S. Nation, W. Singhose, and J. E. Vaughan, “Control of crane payloads that bounce during hoisting,” IEEE Trans. on Control Systems Technology, vol.22, pp. 1233-1238, 2014.

Z. N. Masoud, and M. F. Daqaq, “A graphical approach to input-shaping control design for container cranes with hoist,” IEEE Trans. on Control Systems Technology, vol. 14, pp. 1070-1077, 2006.

H. M. Omar, and A. H. Nayfeh, “Gantry cranes gain scheduling feedback control with friction compensation,” Journal of Sound and Vibration, Vol. 281, pp. 1-20, 2005.

S. Garrido, M. Abderrahim, A. Giménez, R. Diez, and C. Balaguer, “Anti-swinging input shaping control of an automatic construction crane,” IEEE Trans. on Automation Science and Engineering, vol. 5, pp. 549-557, 2008.

M. Cole, and T. Wongratanaphisan, “A direct method of adaptive FIR input shaping for motion control with zero residual vibration,” IEEE/ASME Trans. on Mechatronics vol. 18, pp.316-327, 2013.

I. M. S. Panahi, and K. Venkat, “A class of quadratic FIR shapers with applications to spectral shaping and narrow band generation,” Proc. of IEEE/SP 13th Workshop on Statistical Signal Processing, Bordeaux, 2005, June 17-20, pp. 817-822.

M. Heertjes, and D. Bruijnen, “MIMO FIR feedforward design for zero error tracking control,” Proc. of American Control Conference (ACC), Portland, 2014, June 4-6, pp. 2166-2171.

B. R. Murphy, and I. Watanabe, “Digital shaping shapers for reducing machine vibration,” IEEE Trans. on Robotics and Automation vol. 8, pp. 285-289, 1992.

M. R. Vander, T. Singh, and M. Steinbuch, “Time-delay pre-shaper design for vibration free tracking of periodic reference signals,” Proc. of American Control Conference (ACC), Chicago, USA, 2015, July 1-3, pp. 2167-2172.

W. Singhose, , W. Seering and N. C. Singer, “Shaping inputs to reduce vibration: a vector diagram approach,” Proc. of IEEE International Conference on Robotics and Automation, Cincinnati, USA, 1990, May 13-18, pp. 922-927.

N. Singer, and W. Seering, “Pre-shaping command inputs to reduce system vibration,” ASME 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,” Proc. of the IEEE International Conference on Robotics and Automation, Brisbane, Australia, 1990, 21-26 May, pp. 922-927.

K. L. Sorensen, K. Hekman, and W. E. Singhose, “Finite-state input shaping,” IEEE Trans. on Control Systems Technology, 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.

M. J. Maghsoudi, Z. Mohamed, M. O. Tokhi, A. R Husain,. and M. S. Z. Abidin, “Control of a gantry crane using input-shaping schemes with distributed delay,” Trans. of the Institute of Measurement and Control, DOI: 10.1177/0142331215607615 pp. 1-10, 2015. To be published

M. J. Maghsoudi, Z. Mohamed, A. R. Husain and M. O. Tokhi, “An optimal performance control scheme for a 3D crane,” Mechanical Systems and Signal Processing vol. 66-67, pp.756-768, 2016.

Z. Mohamed, J. M. Martins, M. O. Tokhi, C. J. Sada, and M. Botto, “Vibration control of a very flexible manipulator system,” Control Engineering Practice, vol. 13, pp. 267-277, 2005.

A. M. Abdullahi, Z. Mohamed, M. S. Zainal Abidin, S. Buyamin, and A. A. Bature, “Output-Based command shaping technique for an effective payload sway control of a 3D crane with hoisting,” Trans. of the Institute of Measurement and Control, DOI: 10.1177/0142331216640871 pp. 1-11, 2016. To be published

L. Y. Jianqiang, Z. Dongbin, and W. Wei, “Adaptive sliding mode fuzzy control for a two-dimensional overhead crane,” Mechatronics vol. 15, pp. 505–522, 2005.

Z. Mohamed, and M. O. Tokhi, “Hybrid control schemes for input tracking and vibration suppression of a flexible manipulator,” Proc. of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 217:23-34, February 1, 2003.

K. Chul-Goo and H. Manh-Tuan, “Partially analytical extra-insensitive shaper for a lightly damped flexible arm,” Proc. of IEEE international conference on intelligent robots and systems, Chicago, IL, USA, 2014, Sept. 14-18, pp.2401-2406.

Downloads

Published

2016-12-01

How to Cite

Abdullahi, A. M., Mohamed, Z., Selamat, H., Zainal Abidin, M., Haruna, A., Ramli, L., & Bature, A. A. (2016). Robust Input Shaping for Sway Control of an Overhead 3D Crane. Journal of Telecommunication, Electronic and Computer Engineering (JTEC), 8(11), 99–104. Retrieved from https://jtec.utem.edu.my/jtec/article/view/1417

Issue

Vol. 8 No. 11: Artificial Intelligence and Robotics

Section

Articles

License

TRANSFER OF COPYRIGHT AGREEMENT

The manuscript is herewith submitted for publication in the Journal of Telecommunication, Electronic and Computer Engineering (JTEC). It has not been published before, and it is not under consideration for publication in any other journals. It contains no material that is scandalous, obscene, libelous or otherwise contrary to law. When the manuscript is accepted for publication, I, as the author, hereby agree to transfer to JTEC, all rights including those pertaining to electronic forms and transmissions, under existing copyright laws, except for the following, which the author(s) specifically retain(s):

  1. All proprietary right other than copyright, such as patent rights
  2. The right to make further copies of all or part of the published article for my use in classroom teaching
  3. The right to reuse all or part of this manuscript in a compilation of my own works or in a textbook of which I am the author; and
  4. The right to make copies of the published work for internal distribution within the institution that employs me

I agree that copies made under these circumstances will continue to carry the copyright notice that appears in the original published work. I agree to inform my co-authors, if any, of the above terms. I certify that I have obtained written permission for the use of text, tables, and/or illustrations from any copyrighted source(s), and I agree to supply such written permission(s) to JTEC upon request.