Techniques for Sway Control of a Double-Pendulum-Type Overhead Crane

This paper presents investigations into the development of input shaping techniques for swaying control of a double-pendulum-type overhead crane (DPTOC) system. A nonlinear DPTOC system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. An unshaped ban...

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Main Authors:	Mohd Ashraf, Ahmad, Raja Mohd Taufika, Raja Ismail, Mohd Syakirin, Ramli, Ahmad Nor Kasruddin, Nasir
Format:	Article
Language:	English English
Published:	United Kingdom Simulation Society 2010
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/2562/ http://umpir.ump.edu.my/id/eprint/2562/1/paper1_2_ashraf.pdf http://umpir.ump.edu.my/id/eprint/2562/2/paper1_2_ashraf.pdf

id	ump-2562
recordtype	eprints
spelling	ump-25622018-02-05T08:00:56Z http://umpir.ump.edu.my/id/eprint/2562/ Techniques for Sway Control of a Double-Pendulum-Type Overhead Crane Mohd Ashraf, Ahmad Raja Mohd Taufika, Raja Ismail Mohd Syakirin, Ramli Ahmad Nor Kasruddin, Nasir TK Electrical engineering. Electronics Nuclear engineering This paper presents investigations into the development of input shaping techniques for swaying control of a double-pendulum-type overhead crane (DPTOC) system. A nonlinear DPTOC system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. An unshaped bang-bang input force is used to determine the characteristic parameters of the system for design and evaluation of the input shaping control techniques. The positive and modified specified negative amplitude (SNA) input shapers with the derivative effects respectively are designed based on the properties of the system. Simulation results of the response of the DPTOC system to the shaped inputs are presented in time and frequency domains. Performances of the control schemes are examined in terms of sway angle reduction and time response specifications. Finally, a comparative assessment of the proposed control techniques is presented and discussed. United Kingdom Simulation Society 2010-03 Article PeerReviewed text/html en http://umpir.ump.edu.my/id/eprint/2562/1/paper1_2_ashraf.pdf application/pdf en http://umpir.ump.edu.my/id/eprint/2562/2/paper1_2_ashraf.pdf Mohd Ashraf, Ahmad and Raja Mohd Taufika, Raja Ismail and Mohd Syakirin, Ramli and Ahmad Nor Kasruddin, Nasir (2010) Techniques for Sway Control of a Double-Pendulum-Type Overhead Crane. International Journal of Simulation: Systems, Science & Technology (IJSSST), 11 (2 (March 2010)). pp. 1-8. ISSN 1473-8031 (print); 1473-804x (online)
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Mohd Ashraf, Ahmad Raja Mohd Taufika, Raja Ismail Mohd Syakirin, Ramli Ahmad Nor Kasruddin, Nasir Techniques for Sway Control of a Double-Pendulum-Type Overhead Crane
description	This paper presents investigations into the development of input shaping techniques for swaying control of a double-pendulum-type overhead crane (DPTOC) system. A nonlinear DPTOC system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. An unshaped bang-bang input force is used to determine the characteristic parameters of the system for design and evaluation of the input shaping control techniques. The positive and modified specified negative amplitude (SNA) input shapers with the derivative effects respectively are designed based on the properties of the system. Simulation results of the response of the DPTOC system to the shaped inputs are presented in time and frequency domains. Performances of the control schemes are examined in terms of sway angle reduction and time response specifications. Finally, a comparative assessment of the proposed control techniques is presented and discussed.
format	Article
author	Mohd Ashraf, Ahmad Raja Mohd Taufika, Raja Ismail Mohd Syakirin, Ramli Ahmad Nor Kasruddin, Nasir
author_facet	Mohd Ashraf, Ahmad Raja Mohd Taufika, Raja Ismail Mohd Syakirin, Ramli Ahmad Nor Kasruddin, Nasir
author_sort	Mohd Ashraf, Ahmad
title	Techniques for Sway Control of a Double-Pendulum-Type Overhead Crane
title_short	Techniques for Sway Control of a Double-Pendulum-Type Overhead Crane
title_full	Techniques for Sway Control of a Double-Pendulum-Type Overhead Crane
title_fullStr	Techniques for Sway Control of a Double-Pendulum-Type Overhead Crane
title_full_unstemmed	Techniques for Sway Control of a Double-Pendulum-Type Overhead Crane
title_sort	techniques for sway control of a double-pendulum-type overhead crane
publisher	United Kingdom Simulation Society
publishDate	2010
url	http://umpir.ump.edu.my/id/eprint/2562/ http://umpir.ump.edu.my/id/eprint/2562/1/paper1_2_ashraf.pdf http://umpir.ump.edu.my/id/eprint/2562/2/paper1_2_ashraf.pdf
first_indexed	2023-09-18T21:56:28Z
last_indexed	2023-09-18T21:56:28Z
_version_	1777414112749289472

Techniques for Sway Control of a Double-Pendulum-Type Overhead Crane

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