0
Research Papers

Adjustable-Smooth Polynomial Command-Shaping Control With Linear Hoisting

[+] Author and Article Information
Khalid A. Alghanim

Department of Mechanical Engineering,
Kuwait University,
P.O. Box 5969,
Safat 13060, Kuwait
e-mail: khalid.ghanim@ku.edu.kw

Majed A. Majeed

Department of Mechanical Engineering,
Kuwait University,
P.O. Box 5969,
Safat 13060, Kuwait
e-mail: m.majeed@ku.edu.kw

Khaled A. Alhazza

Department of Mechanical Engineering,
Kuwait University,
P.O. Box 5969,
Safat 13060, Kuwait
e-mail: kalhazza@vt.edu

1Corresponding author.

Contributed by the Technical Committee on Vibration and Sound of ASME for publication in the JOURNAL OF VIBRATION AND ACOUSTICS. Manuscript received November 5, 2017; final manuscript received May 4, 2018; published online June 18, 2018. Assoc. Editor: Maurizio Porfiri.

J. Vib. Acoust 140(6), 061013 (Jun 18, 2018) (9 pages) Paper No: VIB-17-1483; doi: 10.1115/1.4040236 History: Received November 05, 2017; Revised May 04, 2018

Great amount of work has been dedicated to eliminate residual vibrations in rest-to-rest motion. Considerable amount of these methods is based on convolving a general input signal with a sequence of timed impulses. These impulses usually have large jumps in their profiles and are chosen depending on the system modal parameters. Furthermore, classical input shaping methods are usually used for constant cable length and are sensitive to any change in the system parameters. To overcome these limitations, polynomial command shapers with adjustable maneuvering time are proposed. The equation of motion of a simple pendulum with the effect of hoisting is derived, linearized, and solved in order to eliminate residual vibrations in rest-to-rest maneuvers. Several cases including smooth, semi-smooth and unsmooth continuous shapers are simulated numerically and validated experimentally on an experimental overhead crane. Numerical and experimental results show that the proposed polynomial command shaper eliminates residual vibrations effectively. The effect of linear hoisting is also included and discussed. To enhance the shaper performance, extra parameters are added to the polynomial function to reduce shaper sensitivity. Results show that the effect of adding these parameters greatly enhances the shaper performance.

FIGURES IN THIS ARTICLE
<>
Copyright © 2018 by ASME
Your Session has timed out. Please sign back in to continue.

References

Orszulik, R. R. , and Shan, J. , 2011, “ Vibration Control Using Input Shaping and Adaptive Positive Position Feedback,” J. Guid. Control Dyn., 34(4), pp. 1031–1044. [CrossRef]
Abdel-Rahman, E. , Nayfeh, A. , and Masoud, Z. , 2003, “ Dynamics and Control of Cranes: A Review,” J. Vib. Control, 9(7), pp. 863–908.
Singer, N. , Seering, W. , and Pasch, K. , 1990, “ Shaping Command Inputs to Minimize Unwanted Dynamics,” Massachusetts Institute of Technology, Cambridge, MA, U.S. Patent No. 4,916,635. https://patents.google.com/patent/US4916635
Singhose, W. , Singer, N. , Rappole, W. , Derezinski, S. , and Pasch, K. , 1997, “ Methods and Apparatus for Minimizing Unwanted Dynamics in a Physical System,” Convolve Inc., Armonk, NY, U.S. Patent No. 5,638,267. https://patents.google.com/patent/US5638267
Vaughan, J. , Yano, A. , and Singhose, W. , 2008, “ Comparison of Robust Input Shapers,” J. Sound Vib., 315(4–5), pp. 797–815. [CrossRef]
Singhose, W. , Pao, L. , and Seering, W. , 1996, “ Time-Optimal Rest-to-Rest Slewing of Multi-Mode Flexible Spacecraft Using ZVD Robustness Constraints,” AIAA Paper No. 96-3845. https://arc.aiaa.org/doi/10.2514/6.1996-3845
Singhose, W. , and Sung, Y. , 2009, “ Limited-State Commands for Systems With Two Flexible Modes,” Mechatronics, 19(5), pp. 780–787. [CrossRef]
Moriyasu, S. , and Okuyama, Y. , 1999, “ Surge Propagation of PWM-Inverter and Surge Voltage on the Motor,” Trans.-Inst. Electr. Eng. Jpn., 119-D(4), pp. 508–514.
Ogasawara, S. , and Akagi, H. , 1996, “ Modeling and Damping of High-Frequency Leakage Currents in PWM Inverter-Fed AC Motor Drive Systems,” IEEE Trans. Ind. Appl., 32(5), pp. 1105–1114. [CrossRef]
Narang, A. , Gupta, B. , Dick, E. , and Sharma, D. , 1989, “ Measurement and Analysis of Surge Distribution in Motor Stator Windings,” IEEE Trans. Energy Convers., 4(3), pp. 126–134. [CrossRef]
Doughty, R. , and Heredos, F. , 1997, “ Cost-Effective Motor Surge Capability,” IEEE Trans. Ind. Appl., 33(1), pp. 127–76.
Alhazza, K. , and Masoud, Z. , 2013, “ A Novel Wave-Form Command-Shaper for Overhead Cranes,” J. Eng. Res., 1(3), pp. 181–209. http://www.kuwaitjournals.org/jer_data/december_issue/11.pdf
Murphy, B. , and Watanabe, I. , 1992, “ Digital Shaping Filters for Reducing Machine Vibration,” IEEE Trans. Rob. Autom., 8(2), pp. 285–289. [CrossRef]
Hyde, M. , and Seering, W. , 1991, “ Using Input Command Pre-Shaping to Suppress Multiple Mode Vibration,” IEEE International Conference on Robotics and Automation, Sacramento, CA, Apr. 9–11, pp. 2604–2609.
Hyde, M. , and Seering, W. , 1991, “ Inhibiting Multiple Mode Vibration in Controlled Flexible Systems,” IEEE American Control Conference, Boston, MA, June 26–28, pp. 2449–2454. https://ieeexplore.ieee.org/document/4791843/
Robertson, M. , Kozak, K. , and Singhose, W. , 2006, “ Computational Framework for Digital Input Shapers Using Linear Optimization,” IEE Proc.-Control Theory Appl., 153(3), pp. 314–322. [CrossRef]
Alghanim, K. , Alhazza, K. , and Masoud, Z. , 2015, “ A Discretized Optimization Strategy for Rest-to-Rest Maneuvers Considering the Effect of Damping,” ASME Paper No. DETC2015-46250.
Alghanim, K. , Alhazza, K. , and Masoud, Z. , 2015, “ Discrete-Time Command Profiles for Simultaneous Travel and Hoist Maneuvers of Overhead Cranes,” J. Sound Vib., 345(6), pp. 47–57. [CrossRef]
Tuttle, T. , and Seering, W. , 1996, “ Vibration Reduction in Flexible Space Structures Using Input Shaping on Mace: Mission Results,” IFAC Proc., 29(1), pp. 1500–1505. [CrossRef]
Singh, T. , 2004, “ Jerk Limited Input Shapers,” ASME J. Dyn. Syst. Meas. Control, 126(1), pp. 215–219. [CrossRef]
Singhose, W. , Eloundou, R. , and Lawrence, J. , 2010, “ Command Generation for Flexible Systems by Input Shaping and Command Smoothing,” AIAA J. Guid., Control, Dyn., 33(6), pp. 1697–1707. [CrossRef]
Alhazza, K. , 2017, “ Adjustable Maneuvering Time Wave-Form Command Shaping Control With Variable Hoisting Speeds,” J. Vib. Control, 23(7), pp. 1095–1105. [CrossRef]
Alhazza, K. , Masoud, Z. , and Alotaibi, N. , 2016, “ A Smooth Wave-Form Shaped Command With Flexible Maneuvering Time: Analysis and Experiments,” Asian J. Control, 18(4), pp. 1376–1384. [CrossRef]
Alhazza, K. , and Masoud, Z. , 2016, “ Wave Form Command Shaping Control of Multimode Systems,” J. Sound Vib., 363, pp. 126–140. [CrossRef]
Masoud, Z. , and Alhazza, K. , 2017, “ A Smooth Multimode Waveform Command Shaping Control With Selectable Command Length,” J. Sound Vib., 397, pp. 1–16. [CrossRef]
Sun, G. , Kleeberger, M. , and Liu, J. , 2005, “ Complete Dynamic Calculation of Lattice Mobile Crane During Hoisting Motion,” Mech. Mach. Theory, 40(4), pp. 447–466. [CrossRef]
Singhose, W. , Porter, L. , Kenison, M. , and Kriikku, E. , 2000, “ Effects of Hoisting on the Input Shaping Control of Gantry Cranes,” Control Eng. Pract., 8(10), pp. 1159–1165. [CrossRef]
Masoud, Z. , and Daqaq, M. , 2006, “ A Graphical Approach to Input-Shaping Control Design for Container Cranes With Hoist,” IEEE Trans. Control Syst. Technol., 14(6), pp. 1070–1077. [CrossRef]
Alhazza, K. , Hassan, A. , Alghanim, K. , and Masoud, Z. , 2014, “ An Iterative Learning Control Technique for Point-to-Point Maneuvers Applied on an Overhead Crane,” Shock Vib., 2014, pp. 1–11.
Total Crane Systems, 2016, “ Top Rated Crane Company Specializing in Material Handling Solutions,” Crane Systems, Buffalo, NY, accessed June 20, 2017, http://www.totalcrane.com

Figures

Grahic Jump Location
Fig. 1

Schematic diagram of an overhead crane with hoisting capability [30]

Grahic Jump Location
Fig. 2

Overhead crane model with variable cable length

Grahic Jump Location
Fig. 3

Numerical results of shaped jib acceleration and velocity profiles for constant cable lengths

Grahic Jump Location
Fig. 4

Numerical results of unshaped and shaped payload angles for constant cable lengths

Grahic Jump Location
Fig. 5

Numerical results of payload angle and jib acceleration for different hoisting time: Li=0.5 m and Lf=0.4 m

Grahic Jump Location
Fig. 6

Numerical results of payload angle and jib acceleration for three different jib acceleration: Li=0.5 m and Lf=0.4 m

Grahic Jump Location
Fig. 7

Residual oscillations at the end of the maneuver as function of the length ratio β for the very-smooth input, +1, +2 and +3 optimized jib acceleration: Li=0.4 m and Lf=0.3 m

Grahic Jump Location
Fig. 8

Experimental setup of scaled overhead crane model

Grahic Jump Location
Fig. 9

Jib velocity, payload angle, and cable length of the very smooth input: Li=0.2 m and Lf=0.14 m

Grahic Jump Location
Fig. 10

Jib velocity, payload angle, and cable length of the semi-smooth input: Li=0.5 m and Lf=0.4 m

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

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