Oscillation suppressing for an energy efficient bridge crane using input shaping

Traditional bridge cranes waste a large amount of energy because payload oscillation causes the operator to move the massive bridge back and forth in order to damp out the swing. The energy efficient bridge crane (EEBC) is a new crane concept that adds a Micro Bridge fine-positioning stage to the typical dual-bridge crane. With this Micro/Macro dual-bridge design, there is the potential to save energy and improve positioning precision. A planar dynamic model of the EEBC is developed in this paper. Then, the dynamic performance of the EEBC is analyzed. An input shaper is used to suppress the oscillation of payload and improve payload-positioning accuracy. Simulation results show that the EEBC has the potential advantages of saving energy and improving positioning precision.