Premium
A Smooth Wave‐Form Shaped Command with Flexible Maneuvering Time: Analysis and Experiments
Author(s) -
Alhazza Khaled,
Masoud Ziyad,
Alotaibi Nehal
Publication year - 2016
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.1204
Subject(s) - payload (computing) , control theory (sociology) , rest (music) , acceleration , oscillation (cell signaling) , residual , amplitude , flexibility (engineering) , gantry crane , swing , overhead (engineering) , engineering , input shaping , actuator , overhead crane , simulation , computer science , physics , structural engineering , mechanical engineering , mathematics , vibration , control (management) , acoustics , vibration control , algorithm , classical mechanics , artificial intelligence , network packet , computer network , biology , genetics , quantum mechanics , statistics , electrical engineering
Shaped commands are used to eliminate residual oscillations of crane payloads. Command jerks are detrimental to the safe and efficient operation of cranes. Smooth shaped commands are recommended to avoid such jerks in motion commands to crane motors. The amplitude of the shaped command is governed by its time length. The time length of the shaped command is highly dependent on the natural period of oscillation of the payload. A flexible time length of the shaped command introduces flexibility in selecting the desired command amplitude that would lead to a reduced stress on the crane actuators. In this work, a smooth wave‐form acceleration command is proposed to eliminate residual oscillations in rest‐to‐rest maneuvers of cranes. The proposed shaped command is derived analytically. The system performance is simulated numerically and validated experimentally on a scaled model of an overhead crane. The proposed wave‐form is further modified to relax the dependence of the profile on the natural period of oscillation of the payload.