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.
Issue Section:
Technical Briefs
Topics:
Cranes,
Oscillations,
Pendulums,
Vibration,
Gantry cranes,
Dynamics (Mechanics),
Design,
Robustness
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.Copyright © 2008
by American Society of Mechanical Engineers
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