Title: Design and real-time implementation of a distributed-delay input shaper for sway control of a double-pendulum overhead crane

Authors: Wasiu Adebayo Balogun; Z. Mohamed; Auwalu M. Abdullahi; S.M. Fasih ur Rehman

Addresses: Faculty of Electrical Engineering, Universiti Teknologi Malaysia, 81310 UTM Johor Bahru, Johor, Malaysia ' Faculty of Electrical Engineering, Universiti Teknologi Malaysia, 81310 UTM Johor Bahru, Johor, Malaysia ' Mechatronics Engineering Department, Bayero University, Kano, 700001, Nigeria ' Faculty of Engineering, Department of Electronic Engineering, The Islamia University of Bahawalpur, Punjab, 63100, Pakistan

Abstract: Control of a double-pendulum overhead crane (DPOC) is challenging as the system is highly nonlinear with multi-mode behaviour. This paper investigates the real-time implementation of a distributed-delay input shaper for sway control of a DPOC with parameter uncertainty. A distributed-delay zero vibration (DZV) shaper is designed based on the system's dynamic behaviour and is applied in an open-loop configuration. To test the proposed method's effectiveness, experiments are carried out on a laboratory crane with different cable lengths and under payload hoisting with varying cable lengths. For the payload sway, the DZV shaper outperformed the conventional zero vibration (ZV) and zero vibration derivative-derivative (ZVDD) shapers with improvements of at least 73% and 32%, respectively. It also shows a higher robustness in the case of payload hoisting.

Keywords: distributed-delay shaper; input shaper; double-pendulum; overhead crane; sway control.

DOI: 10.1504/IJMMS.2023.137371

International Journal of Mechatronics and Manufacturing Systems, 2023 Vol.16 No.4, pp.364 - 380

Received: 06 Mar 2023
Accepted: 27 Jun 2023
Published online: 14 Mar 2024 *

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