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Paper Infomation

Research of Anti-sway System for ARMG Based on Input-shaping Control Method

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Author: Gang Liu, Jin-Gui Luo, Chun Xie, Christian Sponfeldner

Abstract: This paper did research on electric-control anti-sway system with input shaping method, which is different from commonly used closed-loop PID and Fuzzy-logical control. Input shaping technique is a feed-forward control technique that involves convolving a desired command with a sequence of impulses known as “input shaper” to damp motion induced oscillations. Based on Matlab/Simulink the input shaper inside an embedded Matlab-function-block was implemented. By comparision, although the IS-controlled system reaches the desired position later, but swings inside the tolerance zone, which makes it more efficient.

Keywords: Input-shaping; Anti-sway; ARMG; Mathematical Model

References:

[1] LEUTENEGGER, S., BENZ, M. & AMBUHL, D. (2007) Closed Loop Controling of a Gantrycrane (org.: Regelung eines Lastkrans). Swiss Federal Institute of Technology Zurich

[2] MOHD TUMARI, M.Z., SHABUDIN, L., ZAWAWI, M.A & AHMAD SHAH, L.H. (2013) Active Sway Control of a Gantry Crane using Hyprid Input Shaping and PID Control Schemes. International Conference on Mechanical Engineering Research (ICMER2013), 1-3 July 2013. Paper ID: P316

[3] SORENSEN KHALID, L. (2006) A Controler enabling pricise positioning and sway reducthion in bridge and gantry cranes. Control Engineering practice 15 (2007). p. 825-837.

[4] AHMAD, M.A. & MOHAMED, Z. (2009) Hybrid Fuzzy Logic Control with Input Shaping for Input Tracking and Sway Suppression of a Gantry Crane System. American J. of Engineering and Applied Sciences 2 (1). p. 241-251, 2009. ISSN: 1941-7020

[5] HUNG, J.Y. (2007) Posicast Control Past and Present. IEEE Multidisziplinary Engineering Education Magazine 2 (1). p. 7-11.

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