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
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;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.611762
