Anti-sway control schemes of a boom crane using command shaping techniques
This paper presents investigations into the applications and performance of command shaping techniques for control of payload sway of a boom crane based on filtering and the input shaping technique. The mathematical dynamic model describing the motion of the boom crane is developed using the Lagrang...
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my.utm.518802018-08-27T03:41:30Z http://eprints.utm.my/id/eprint/51880/ Anti-sway control schemes of a boom crane using command shaping techniques Ishak, Mohamad Hafis Izran Mohamed, Zaharuddin Mamat, Rosbi TK Electrical engineering. Electronics Nuclear engineering This paper presents investigations into the applications and performance of command shaping techniques for control of payload sway of a boom crane based on filtering and the input shaping technique. The mathematical dynamic model describing the motion of the boom crane is developed using the Lagrange-Euler's equation. The dynamic characteristics of the system are studied and analysed using the Matlab Simulink in time and frequency domains. Command shaping techniques based on filtering and the input shaping techniques are then developed and used to control the payload sway of the boom crane. The performance of the control techniques are studied in terms of the level of sway reduction, time response and robustness. Finally, a comparative assessment of the effectiveness of the control schemes for sway control of a boom crane is presented and discussed Penerbit UTM 2014 Article PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/51880/1/MohamadHafisIzran2014_Anti-swaycontrolschemes.pdf Ishak, Mohamad Hafis Izran and Mohamed, Zaharuddin and Mamat, Rosbi (2014) Anti-sway control schemes of a boom crane using command shaping techniques. Jurnal Teknologi (Sciences and Engineering), 67 (5). pp. 49-58. ISSN 0127-9696 http://dx.doi.org/10.11113/jt.v67.2842 DOI: 10.11113/jt.v67.2842 |
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TK Electrical engineering. Electronics Nuclear engineering Ishak, Mohamad Hafis Izran Mohamed, Zaharuddin Mamat, Rosbi Anti-sway control schemes of a boom crane using command shaping techniques |
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This paper presents investigations into the applications and performance of command shaping techniques for control of payload sway of a boom crane based on filtering and the input shaping technique. The mathematical dynamic model describing the motion of the boom crane is developed using the Lagrange-Euler's equation. The dynamic characteristics of the system are studied and analysed using the Matlab Simulink in time and frequency domains. Command shaping techniques based on filtering and the input shaping techniques are then developed and used to control the payload sway of the boom crane. The performance of the control techniques are studied in terms of the level of sway reduction, time response and robustness. Finally, a comparative assessment of the effectiveness of the control schemes for sway control of a boom crane is presented and discussed |
format |
Article |
author |
Ishak, Mohamad Hafis Izran Mohamed, Zaharuddin Mamat, Rosbi |
author_facet |
Ishak, Mohamad Hafis Izran Mohamed, Zaharuddin Mamat, Rosbi |
author_sort |
Ishak, Mohamad Hafis Izran |
title |
Anti-sway control schemes of a boom crane using command shaping techniques |
title_short |
Anti-sway control schemes of a boom crane using command shaping techniques |
title_full |
Anti-sway control schemes of a boom crane using command shaping techniques |
title_fullStr |
Anti-sway control schemes of a boom crane using command shaping techniques |
title_full_unstemmed |
Anti-sway control schemes of a boom crane using command shaping techniques |
title_sort |
anti-sway control schemes of a boom crane using command shaping techniques |
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Penerbit UTM |
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2014 |
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http://eprints.utm.my/id/eprint/51880/1/MohamadHafisIzran2014_Anti-swaycontrolschemes.pdf http://eprints.utm.my/id/eprint/51880/ http://dx.doi.org/10.11113/jt.v67.2842 |
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