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Technical Briefs

Input Shaping Control of Double-Pendulum Bridge Crane Oscillations

[+] Author and Article Information
William Singhose

Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332singhose@gatech.edu

Dooroo Kim

Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332

Michael Kenison

 Schlumberger Technology Corporation, Sugar Land, TX 77478kenison@sugar-land.oilfield.slb.com

J. Dyn. Sys., Meas., Control 130(3), 034504 (May 01, 2008) (7 pages) doi:10.1115/1.2907363 History: Received August 16, 2006; Revised August 14, 2007; Published May 01, 2008

Large amplitude oscillation of crane payloads is detrimental to safe and efficient operation. Under certain conditions, the problem is compounded when the payload creates a double-pendulum effect. Most crane control research to date has focused on single-pendulum dynamics. Several researchers have shown that single-mode oscillations can be greatly reduced by properly shaping the inputs to the crane motors. This paper builds on those previous developments to create a method for suppressing double-pendulum payload oscillations. The input shaping controller is designed to have robustness to changes in the two operating frequencies. Experiments performed on a portable bridge crane are used to verify the effectiveness of this method and the robustness of the input shaper.

Copyright © 2008 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

Input shaping a pulse input

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Figure 2

Typical hook responses

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Figure 3

Double-pendulum crane

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Figure 4

Variation of low and high frequencies

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Figure 5

Ratio of high-mode amplitude to low-mode amplitude

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Figure 6

Simulated hook response, R=2

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Figure 7

Experimental response, R=2

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Figure 8

Suppressing two frequency ranges

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Figure 9

Length-ratio sampling (nominal value=2.4)

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Figure 10

Effect of second-mode insensitivity on shaper duration

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Figure 11

Effect of first- and second-mode insensitivities on shaper duration

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Figure 12

Effect of vibration limit on shaper duration

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Figure 13

Effect of first-mode insensitivity on shaper duration (I2=40%)

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Figure 14

Sensitivity curves for the two-mode SI shapers

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Figure 15

Experimental hook response with double-pendulum SI shaper, R=2

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Figure 16

Experimental hook response with double-pendulum SI shaper, R=0.5

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Figure 17

Effect of length ratio on oscillation amplitude, R=2

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