Robust input shaping for sway control of an overhead 3D crane
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 achie...
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Universiti Teknikal Malaysia Melaka
2016
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my.utm.744132017-11-29T23:58:35Z http://eprints.utm.my/id/eprint/74413/ Robust input shaping for sway control of an overhead 3D crane Abdullahi, A. M. Mohamed, Z. Selamat, H. Zainal Abidin, M. S. Haruna, A. Ramli, L. Bature, A. A. TK Electrical engineering. Electronics Nuclear engineering 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. Universiti Teknikal Malaysia Melaka 2016 Article PeerReviewed Abdullahi, A. M. and Mohamed, Z. and Selamat, H. and Zainal Abidin, M. S. and Haruna, A. and Ramli, L. and Bature, A. A. (2016) Robust input shaping for sway control of an overhead 3D crane. Journal of Telecommunication, Electronic and Computer Engineering, 8 (11). pp. 99-104. ISSN 2180-1843 https://www.scopus.com/inward/record.uri?eid=2-s2.0-85011423469&partnerID=40&md5=009c3ccf0003afdda36ca7dbb6dc7ea7 |
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TK Electrical engineering. Electronics Nuclear engineering Abdullahi, A. M. Mohamed, Z. Selamat, H. Zainal Abidin, M. S. Haruna, A. Ramli, L. Bature, A. A. Robust input shaping for sway control of an overhead 3D crane |
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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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Article |
author |
Abdullahi, A. M. Mohamed, Z. Selamat, H. Zainal Abidin, M. S. Haruna, A. Ramli, L. Bature, A. A. |
author_facet |
Abdullahi, A. M. Mohamed, Z. Selamat, H. Zainal Abidin, M. S. Haruna, A. Ramli, L. Bature, A. A. |
author_sort |
Abdullahi, A. M. |
title |
Robust input shaping for sway control of an overhead 3D crane |
title_short |
Robust input shaping for sway control of an overhead 3D crane |
title_full |
Robust input shaping for sway control of an overhead 3D crane |
title_fullStr |
Robust input shaping for sway control of an overhead 3D crane |
title_full_unstemmed |
Robust input shaping for sway control of an overhead 3D crane |
title_sort |
robust input shaping for sway control of an overhead 3d crane |
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Universiti Teknikal Malaysia Melaka |
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2016 |
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http://eprints.utm.my/id/eprint/74413/ https://www.scopus.com/inward/record.uri?eid=2-s2.0-85011423469&partnerID=40&md5=009c3ccf0003afdda36ca7dbb6dc7ea7 |
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1643656852911685632 |
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13.160551 |