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.

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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

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