Input shaping has been shown to be a practical and effective control scheme for reducing payload swing on industrial bridge and gantry cranes. However, when applied to tower cranes, standard input shapers will have degraded performance due to the nonlinear dynamics of rotational motion. To alleviate this problem, two new command generators for tower cranes are developed for a point-to-point slewing motion. It is shown that standard shaping techniques greatly reduce oscillation and the new tower crane command generators cause even less residual vibration. Simulations and experiments verify the results.
Issue Section:
Research Papers
1.
Singer
, N. C.
, and Seering
, W. P.
, 1990, “Preshaping Command Inputs to Reduce System Vibration
,” ASME J. Dyn. Syst., Meas., Control
0022-0434, 112
, pp. 76
–82
.2.
Smith
, O. J. M.
, 1957, “Posicast Control of Damped Oscillatory Systems
,” Proc. IRE
0096-8390, 45
, pp. 1249
–1255
.3.
Singer
, N.
, Singhose
, W.
, and Kriikku
, E.
, 1997, “An Input Shaping Controller Enabling Cranes to Move Without Sway
,” ANS Seventh Topical Meeting on Robotics and Remote Systems
, Augusta
, GA
, pp. 11
–16
.4.
Auernig
, J. W.
, and Troger
, H.
, 1987, “Time Optimal Control of Overhead Cranes With Hoisting of the Load
,” Automatica
0005-1098, 23
, pp. 437
–446
.5.
Golafshani
, A. R.
, and Aplevich
, J. D.
, 1995, “Computation of Time-Optimal Trajectories for Tower Cranes
,” IEEE Conference on Control Applications
, pp. 1134
–1139
.6.
Moustafa
, K. A. F.
, and Ebeid
, A. M.
, 1988, “Nonlinear Modeling and Control of Overhead Crane Load Sway
,” ASME J. Dyn. Syst., Meas., Control
0022-0434, 110
, pp. 266
–271
.7.
Al-Garni
, A. Z.
, Moustafa
, K. A. F.
, and Nizami
, S. S. A. K. J.
, 1995, “Optimal Control of Overhead Cranes
,” Control Eng. Pract.
0967-0661, 3
(9
), pp. 1277
–1284
.8.
Butler
, H.
, Honderd
, G.
, and Amerongen
, J. V.
, 1991, “Model Reference Adaptive Control of a Gantry Crane Scale Model
,” IEEE Control Syst.
1066-033X, 11
, pp. 57
–62
.9.
Alli
, H.
, and Singh
, T.
, 1999, “Passive Control of Overhead Cranes
,” J. Vib. Control
1077-5463, 5
, pp. 443
–459
.10.
O’Connor
, W. J.
, 2003, “A Gantry Crane Problem Solved
,” ASME J. Dyn. Syst., Meas., Control
0022-0434, 125
, pp. 569
–576
.11.
Starr
, G. P.
, 1985, “Swing-Free Transport of Suspended Objects With a Path-Controlled Robot Manipulator
,” ASME J. Dyn. Syst., Meas., Control
0022-0434, 107
, pp. 97
–100
.12.
Singhose
, W.
, Singer
, N.
, and Seering
, W.
, 1997, “Time-Optimal Negative Input Shapers
,” ASME J. Dyn. Syst., Meas., Control
0022-0434, 119
, pp. 198
–205
.13.
Singhose
, W.
, Seering
, W. P.
, and Singer
, N.
, 1990, “Shaping Inputs to Reduce Vibration: A Vector Diagram Approach
,” IEEE International Conference on Robotics and Automation
, Cincinnati, OH.14.
Singhose
, W.
, Seering
, W. P.
, and Singer
, N.
, 1994, “Residual Vibration Reduction Using Vector Diagrams to Generate Shaped Inputs
,” ASME J. Mech. Des.
1050-0472, 116
, pp. 654
–659
.15.
Smith
, O. J. M.
, 1958, Feedback Control Systems
, McGraw-Hill
, New York
.16.
Singhose
, W.
, Porter
, L.
, Kenison
, M.
, and Kriikku
, E.
, 2000, “Effects of Hoisting on the Input Shaping Control of Gantry Cranes
,” Control Eng. Pract.
0967-0661, 8
(10
), pp. 1159
–1165
.17.
Hong
, K.-T.
, and Hong
, K.-S.
, 2004, “Input Shaping and vsc of Container Cranes
,” IEEE International Conference on Control Applications
, Taipei
, Taiwan
, pp. 1570
–1575
.18.
Kim
, D.
, and Singhose
, W.
, 2006, “Reduction of Double Pendulum Crane Oscillations
,” International Conference on Motion and Vibration Control
, Daejeon, Korea
.19.
Noakes
, M. W.
, and Jansen
, J. F.
, 1992, “Generalized Inputs for Damped-Vibration Control of Suspended Payloads
,” Rob. Auton. Syst.
0921-8890, 10
(2
), pp. 199
–205
.20.
Park
, B. J.
, Hong
, K.-S.
, and Huh
, C.
, 2000, “Time-Efficient Input Shaping Control of Container Cranes
,” International Conference on Control Applications
, Anchorage
, AK
, pp. 80
–85
.21.
Robinett
, R. I.
, Feddema
, J. T.
, Eisler
, G.
, Wilson
, D.
, and Parker
, G.
, 1997, “Flexible Robotic Manipulator Research at Sandia National Laboratories
,” 11th Symposium on Structural Dynamics and Control
, Blacksburg
, VA
.22.
Singhose
, W.
, and Kim
, D.
, 2007, “Manipulation With Tower Cranes Exhibiting Double-Pendulum Oscillations
,” IEEE International Conference on Robotics and Automation
, Rome, Italy
.23.
Singhose
, W.
, Kim
, D.
, and Kenison
, M.
, 2008, “Input Shaping Control of Double-Pendulum Bridge Crane Oscillations
,” ASME J. Dyn. Syst., Meas., Control
0022-0434, 130
, 034504
.24.
Sorensen
, K.
, Singhose
, W.
, and Dickerson
, S.
, 2007, “A Controller Enabling Precise Positioning and Sway Reduction in Bridge and Gantry Cranes
,” Control Eng. Pract.
0967-0661, 15
(7
), pp. 825
–837
.25.
Kress
, R. L.
, Fansen
, J. F.
, and Noakes
, M. W.
, 1994, “Experimental Implementation of a Robust Damped-Oscillation Control Algorithm on a Full Sized, Two-DOF, ac Induction Motor-Driven Crane
,” Fifth International Symposium on Robotics and Manufacturing
, Maui, HI, pp. 585
–592
.26.
Agostini
, M.
, Parker
, G. G.
, Groom
, K.
, Schaub
, H.
, and Robinett
, R. D.
, 2002, “Command Shaping and Closed-Loop Control Interactions for a Ship Crane
,” American Control Conference
, Anchorage, AK
, pp. 2298
–2304
.27.
Lewis
, D.
, Parker
, G. G.
, Driessen
, B.
, and Robinett
, R. D.
, 1999, “Comparison of Command Shaping Controllers for Supressing Payload Sway in a Rotary Boom Crane
,” IEEE International Conference on Control Applications
, Kohala Coast
, HI
, pp. 719
–724
.28.
Blackburn
, D. F.
, Singhose
, W.
, Kitchen
, J. P.
, Petrangenaru
, V. P.
, Lawrence
, J.
, Kamoi
, T.
, and Taura
, A.
, 2006, “Advanced Input Shaping Algorithm for Nonlinear Tower Crane Dynamics
,” Eighth International Conference on Motion and Vibration Control
, Daejeon
, Korea
.29.
Kozak
, K.
, Ebert-Uphoff
, I.
, and Singhose
, W.
, 2004, “Locally Linearized Dynamic Analysis of Parallel Manipulators and Application of Input Shaping to Reduce Vibrations
,” ASME J. Mech. Des.
1050-0472, 126
, pp. 156
–168
.30.
Rappole
, B. W. J.
, Singer
, N.
, and Seering
, W. P.
, 1994, “Multiple-Mode Impulse Shaping Sequences for Reducing Residual Vibrations
,” 23rd Biennial Mechanisms Conference
, Minneapolis
, MN
, pp. 11
–16
.31.
Eloundou
, R.
, and Singhose
, W.
, 2002, “Interpretation of Smooth Reference Commands as Input Shaped Functions
,” American Control Conference
, Anchorage
, AK
, pp. 4948
–4953
.32.
Singhose
, W.
, Seering
, W. P.
, and Singer
, N.
, 1996, “Input Shaping for Vibration Reduction With Specified Insensitivity to Modeling Errors
,” Japan-USA Symposium on Flexible Automation
, Boston
, MA
, Vol. 1
, pp. 307
–313
.33.
Lawrence
, J.
, Fatkin
, B.
, Singhose
, W.
, Weiss
, R.
, Erb
, A.
, Glauser
, U.
, and Huey
, J.
, 2006, “An Internet-Driven Tower Crane for Dynamics and Controls Education
,” Seventh IFAC Symposium on Advances in Control Education
, Madrid
, Spain
.Copyright © 2010
by American Society of Mechanical Engineers
You do not currently have access to this content.
