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Research Papers

Frequency-Modulation Input Shaping Control of Double-Pendulum Overhead Cranes

[+] Author and Article Information
Ziyad N. Masoud

Department of Mechatronics Engineering,
German Jordanian University,
Amman 11180, Jordan
e-mail: zmasoud@vt.edu

Khaled A. Alhazza

Department of Mechanical Engineering,
Kuwait University,
Kuwait City 13060, Kuwait
e-mail: kalhazza@vt.edu

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received September 26, 2011; final manuscript received October 7, 2013; published online December 2, 2013. Assoc. Editor: Eugenio Schuster.

J. Dyn. Sys., Meas., Control 136(2), 021005 (Dec 02, 2013) (11 pages) Paper No: DS-11-1296; doi: 10.1115/1.4025796 History: Received September 26, 2011; Revised October 07, 2013

Traditionally, multimode input shaping controllers are tuned to systems' frequencies. This work suggests an alternative approach. A frequency-modulation (FM) input shaping technique is developed to tune the resonant frequencies of a system to a set of frequencies that can be eliminated by a single-mode primary input shaper. Most of the current input shaping techniques can be used as primary input shapers for the FM input shaping technique. Virtual feedback is used to modulate the closed-loop frequencies of a simulated double-pendulum model of an overhead crane to the point where the closed-loop second mode frequency becomes an odd-multiple of the closed-loop first mode frequency, which is the necessary condition for a satisfactory performance of most single-mode input shapers. The primary input shaper is based on the first mode frequency of the closed-loop system model. The input commands to the plant of the virtual feedback system are then used to drive the physical double-pendulum. Simulations results, using primary zero-vibration (ZV) and zero-vibration-derivative (ZVD) input shapers, are presented. The performance is validated experimentally on a scaled model of a double-pendulum overhead crane.

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References

Figures

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Fig. 1

Double-pendulum crane model

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Fig. 2

Block diagram of the frequency-modulation input shaper

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Fig. 3

ZV input shaping process

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Fig. 4

Impulse response to the ZV input shaper

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Fig. 5

ZVD input shaping process

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Fig. 6

Response of a double-pendulum with a 2 m cable, using ZV and ZVD shapers designed using a simple-pendulum model

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Fig. 7

Response of a double-pendulum with a 10 m cable, using ZV and ZVD shapers designed using a simple-pendulum model

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Fig. 8

Response of a double-pendulum with a 2 m cable, using ZV and ZVD shapers designed using first mode frequency

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Fig. 9

Response of a double-pendulum with a 10 m cable, using ZV and ZVD shapers designed using first mode frequency

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Fig. 10

Response of a double-pendulum with a 2 m cable, using FM shaper with ZV primary shaper

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Fig. 11

Response of a double-pendulum with a 2 m cable, using FM shaper with ZVD primary shaper

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Fig. 12

Response of a double-pendulum with a 10 m cable, using FM shaper with ZV primary shaper

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Fig. 13

Response of a double-pendulum with a 10 m cable, using FM shaper with ZVD primary shaper

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Fig. 14

Sensitivity of residual oscillations to modeling errors in the center of mass of the payload

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Fig. 15

Experimental crane setup

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Fig. 16

Simulated response of the double-pendulum experimental setup using FM shaper with ZV primary shaper and a 0.3 m cable

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Fig. 17

Response of the double-pendulum experimental setup using FM shaper with ZV primary shaper and a 0.3 m cable

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Fig. 18

Simulated response of the double-pendulum experimental setup using FM shaper with ZV primary shaper and a 0.4 m cable

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Fig. 19

Response of the double-pendulum experimental setup using FM shaper with ZV primary shaper and a 0.4 m cable

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