DocumentCode
313649
Title
Input shaped control of a planar gantry crane with hoisting
Author
Singhose, William E. ; Porter, Lisa J. ; Seering, Warren P.
Author_Institution
Dept. of Mech. Eng., MIT, Cambridge, MA, USA
Volume
1
fYear
1997
fDate
4-6 Jun 1997
Firstpage
97
Abstract
The dynamic behavior of a planar gantry crane with hoisting of the load is investigated. The feedforward technique of input shaping is proposed for reduction of the residual vibration. Several versions of input shaping are evaluated and compared with time-optimal rigid-body commands over a wide range of parameters. Input shaping offers significant reduction in both, the residual and transient oscillation
Keywords
cranes; dynamics; feedforward; materials handling; time optimal control; transient response; vibration control; dynamic behavior; feedforward; hoisting; input shaped control; planar gantry crane; residual oscillation; residual vibration; transient oscillation; Control nonlinearities; Convolution; Cranes; Equations; Frequency; Pulse generation; Robustness; Shape control; Signal generators; Virtual manufacturing;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1997. Proceedings of the 1997
Conference_Location
Albuquerque, NM
ISSN
0743-1619
Print_ISBN
0-7803-3832-4
Type
conf
DOI
10.1109/ACC.1997.611762
Filename
611762
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