Title :
Double-pendulum gantry crane dynamics and control
Author :
Singhose, William E. ; Towel, Samuel T.
Author_Institution :
Dept. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
Abstract :
Payload manipulation using gantry cranes presents a challenging control problem because of the inherent system flexibility. If the crane is equipped with a large-mass hook and the payload is sufficiently small, then the problem is complicated because the crane can exhibit double-pendulum dynamics. This paper explores the double-pendulum effect for gantry cranes. A simple command shaping method is presented for dealing with only the first mode of vibration and experimental results verify its utility, even when the double-pendulum dynamics are present. The command shaping method is then modified to better handle the double-pendulum dynamics
Keywords :
cranes; dynamics; feedforward; pendulums; vibration control; command shaping method; double-pendulum dynamics; feedforward; gantry cranes; input shaping; oscillation mode; payload; vibration control; Boundary conditions; Control systems; Cranes; Finite impulse response filter; Mechanical engineering; Open loop systems; Optimal control; Payloads; Shape control; Vibrations;
Conference_Titel :
Control Applications, 1998. Proceedings of the 1998 IEEE International Conference on
Conference_Location :
Trieste
Print_ISBN :
0-7803-4104-X
DOI :
10.1109/CCA.1998.721650