0
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.

Copyright © 2014 by ASME
Your Session has timed out. Please sign back in to continue.

References

Zrnić, N., Petković, Z., and Bošnjak, S., 2005, “Automation of Ship-to-Shore Container Cranes: A Review of State-of-the-Art,” FME Trans., 33, pp. 111–121.
Abdel-Rahman, E., Nayfeh, A., and Masoud, Z., 2003, “Dynamics and Control of Cranes: A Review,” J. Vib. Control, 9, pp. 863–908. [CrossRef]
Masoud, Z., Nayfeh, A., and Al-Mousa, A., 2003, “Delayed Position-Feedback Controller for the Reduction of Payload Pendulations of Rotary Crane,” J. Vib. Control, 9, pp. 257–277. [CrossRef]
Masoud, Z., Nayfeh, A., and Mook, D., 2004, “Cargo Pendulation Reduction of Ship-Mounted Cranes,” Nonlinear Dyn., 35(3), pp. 299–311. [CrossRef]
Masoud, Z., Daqaq, M., and Nayfeh, N., 2004, “Pendulation Reduction on Small Ship-Mounted Telescopic Cranes,” J. Vib. Control, 10(8), pp. 1167–1179. [CrossRef]
Masoud, Z., Nayfeh, A., and Nayfeh, N., 2005, “Sway Reduction on Quay-Side Container Cranes Using Delayed Feedback Controller: Simulations and Experiments,” J. Vib. Control, 11(8), pp. 1103–1122. [CrossRef]
Smith, O. J. M., 1958, Feedback Control Systems, McGraw-Hill, New York.
Singh, T., and Heppler, G. R., 1993, “Shaped Input Control of a System With Multiple Modes,” ASME J. Dyn. Syst., Meas., Control, 115, pp. 341–347. [CrossRef]
Jones, J., and Petterson, B., 1988, “Oscillation Damped Movement of Suspended Objects,” Proceedings of the IEEE International Conference on Robotics and Automation, pp. 956–962.
Dadone, P., and Vanlandinham, H., 2001, “Load Transfer Control for a Gantry Crane With Arbitrary Delay Constraints,” J. Vib. Control, 7, pp. 135–158. [CrossRef]
Strip, D., 1989, “Swing-Free Transport of Suspended Objects: A General Treatment,” IEEE Trans. Rob. Autom., 5(2), pp. 234–236. [CrossRef]
Singer, N., and Seering, W., 1990, “Preshaped Command Inputs to Reduce System Vibrations,” ASME J. Dyn. Syst., Meas., Control, 112, pp. 76–82. [CrossRef]
Daqaq, M., and Masoud, Z., 2006, “Nonlinear Input-Shaping Controller for Quay-Side Container Cranes,” Nonlinear Dyn., 45(1), pp. 149–170. [CrossRef]
Sorensen, K., Singhose, W., and Dickerson, S., 2007, “A Controller Enabling Precise Positioning and Sway Reduction in Bridge and Gantry Cranes,” Control Eng. Pract., 15, pp. 825–837. [CrossRef]
Kapila, V., Tzes, A., and Yan, Q., 2000, “Closed-Loop Input Shaping for Flexible Structures Using Time-Delay Control,” ASME J. Dyn. Syst., Meas., Control, 122, pp. 454–460. [CrossRef]
Zuo, K., Drapeau, V., and Wang, D., 1995, “Closed-Loop Input Shaping Strategies for Flexible Robots,” J. Robot. Res., 14(5), pp. 510–529. [CrossRef]
Tzes, A., 2003, “Robust Control Design Issues for Input Shaped Discrete Systems,” Proceedings of the American Control Conference, pp. 4785–4787.
Staehlin, U., and Singh, T., 2003, “Design of Closed-Loop Input Shaping Controllers,” Proceedings of the American Control Conference, pp. 5167–5172.
Huey, J., and Singhose, W., 2010, “Trends in the Stability Properties of CLSS Controllers: A Root-Locus Analysis,” IEEE Trans. Control Syst. Technol., 18(5), pp. 1044–1056. [CrossRef]
Kenison, M., and Singhose, W., 2002, “Concurrent Design of Input Shaping and Proportional Plus Derivative Feedback Control,” ASME J. Dyn. Syst., Meas., Control, 124, pp. 398–405. [CrossRef]
Erkorkmaz, K., and Altintas, Y., 2001, “High Speed CNC System Design. Part I: Jerk Limited Trajectory Generation and Quintic Spline Interpolation,” Int. J. Mach. Tools Manuf., 41(9), pp. 1323–1345. [CrossRef]
Lim, S., Stevens, H., and How, J., 1999, “Input Shaping Design for Multi-Input Flexible Systems,” ASME J. Dyn. Syst., Meas., Control, 121(3), pp. 443–447. [CrossRef]
Singh, T., 2004, “Jerk Limited Input Shapers,” ASME J. Dyn. Syst., Meas., Control, 126, pp. 215–219. [CrossRef]
Alhazza, K., and Masoud, Z., 2010, “A Novel Wave-Form Command-Shaping Control With Application on Overhead Cranes,” Proceedings of the ASME 2010 Dynamic Systems and Control Conference, Paper No. DSCC2010-4123.
Hyde, M., and Seering, W., 1991, “Inhibiting Multiple Mode Vibration in Controlled Flexible Systems,” American Control Conference.
Hyde, M., and Seering, W., 1991, “Using Input Command Pre-Shaping to Suppress Multiple Mode Vibration,” IEEE International Conference on Robotics and Automation.
Singhose, W., Crain, E., and Seering, W., 1997, “Convolved and Simultaneous Two-Mode Input-Shapers,” IEE Control Theory Appl., 144, pp. 515–520. [CrossRef]
Masoud, Z., Alhazza, K., Majeed, M., and Abu-Nada, E., 2009, “A Hybrid Command-Shaping Control System for Highly Accelerated Double-Pendulum Gantry Cranes,” Proceedings of the ASME 2009 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Paper No. DETC2009–87501.
Kenison, M., and Singhose, W., 1999, “Input Shaper Design for Double-Pendulum Planar Gantry Cranes,” Proceedings of the 1999 IEEE International Conference on Control Applications, pp. 539–544.
Hsu, T.-H., 2000, “Control of a Chaotic Double Pendulum Model for a Ship Mounted Crane,” Ph.D. thesis, Virginia Polytechnic Institute and State University, Blacksburg, VA.
Liu, D., Guo, W., and Yi, J., 2005, “Ga-Based Composite Sliding Mode Fuzzy Control Double-Pendulum-Type Overhead Crane,” Proceedings of the Second International Conference on Fuzzy Systems and Knowledge Discovery, pp. 792–801.
Kim, D., and Singhose, W., 2006, “Reduction of Double-Pendulum Bridge Crane Oscillations,” Proceedings of the 8th International Conference on Motion and Vibration Control, pp. 300–305.
Ahmad, A., Ismail, R., Ramli, M., and Hambali, N., 2010, “Investigations of NCTF With Input Shaping for Sway Control of a Double-Pendulum-Type Overhead Crane,” Proceedings of 2nd International Conference on Advanced Computer Control (ICACC), pp. 456–461.
Hong, K. T., Huh, C., and Hong, K. S., 2003, “Command Shaping Control for Limiting the Transient Sway Angle of Crane Systems,” Int. J. Control Autom., Syst., 1(1), pp. 43–53.
Singhose, W., Kim, D., and Kenison, M., 2008, “Input Shaping Control of Double Pendulum Bridge Crane Oscillations,” ASME J. Dyn. Syst., Meas., Control, 130(3), p. 034504. [CrossRef]
Vaughan, J., Kim, D., and Singhose, W., 2010, “Control of Tower Cranes With Double-Pendulum Payload Dynamics,” IEEE Trans. Control Syst. Technol., 18(6), pp. 1345–1358. [CrossRef]
Kim, D., and Singhose, W., 2010, “Performance Studies of Human Operators Driving Double-Pendulum Bridge Cranes,” Control Eng. Pract., 18, pp. 567–576. [CrossRef]
Vaughan, J., Yano, A., and Singhose, W., 2008, “Comparison of Robust Input Shapers,” J. Sound Vib., 315, pp. 797–815. [CrossRef]

Figures

Grahic Jump Location
Fig. 1

Double-pendulum crane model

Grahic Jump Location
Fig. 2

Block diagram of the frequency-modulation input shaper

Grahic Jump Location
Fig. 3

ZV input shaping process

Grahic Jump Location
Fig. 4

Impulse response to the ZV input shaper

Grahic Jump Location
Fig. 5

ZVD input shaping process

Grahic Jump Location
Fig. 6

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

Grahic Jump Location
Fig. 7

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

Grahic Jump Location
Fig. 8

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

Grahic Jump Location
Fig. 9

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

Grahic Jump Location
Fig. 10

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

Grahic Jump Location
Fig. 11

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

Grahic Jump Location
Fig. 12

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

Grahic Jump Location
Fig. 13

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

Grahic Jump Location
Fig. 14

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

Grahic Jump Location
Fig. 15

Experimental crane setup

Grahic Jump Location
Fig. 16

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

Grahic Jump Location
Fig. 17

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

Grahic Jump Location
Fig. 18

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

Grahic Jump Location
Fig. 19

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

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In