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.
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e-mail: singhose@gatech.edu
e-mail: kenison@sugar-land.oilfield.slb.com
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Input Shaping Control of Double-Pendulum Bridge Crane Oscillations
William Singhose,
William Singhose
Woodruff School of Mechanical Engineering,
e-mail: singhose@gatech.edu
Georgia Institute of Technology
, Atlanta, GA 30332
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Dooroo Kim,
Dooroo Kim
Woodruff School of Mechanical Engineering,
Georgia Institute of Technology
, Atlanta, GA 30332
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Michael Kenison
e-mail: kenison@sugar-land.oilfield.slb.com
Michael Kenison
Schlumberger Technology Corporation
, Sugar Land, TX 77478
Search for other works by this author on:
William Singhose
Woodruff School of Mechanical Engineering,
Georgia Institute of Technology
, Atlanta, GA 30332e-mail: singhose@gatech.edu
Dooroo Kim
Woodruff School of Mechanical Engineering,
Georgia Institute of Technology
, Atlanta, GA 30332
Michael Kenison
Schlumberger Technology Corporation
, Sugar Land, TX 77478e-mail: kenison@sugar-land.oilfield.slb.com
J. Dyn. Sys., Meas., Control. May 2008, 130(3): 034504 (7 pages)
Published Online: May 1, 2008
Article history
Received:
August 16, 2006
Revised:
August 14, 2007
Published:
May 1, 2008
Citation
Singhose, W., Kim, D., and Kenison, M. (May 1, 2008). "Input Shaping Control of Double-Pendulum Bridge Crane Oscillations." ASME. J. Dyn. Sys., Meas., Control. May 2008; 130(3): 034504. https://doi.org/10.1115/1.2907363
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