Design and real-time implementation of a distributed-delay input shaper for sway control of a double-pendulum overhead crane Online publication date: Thu, 14-Mar-2024
by Wasiu Adebayo Balogun; Z. Mohamed; Auwalu M. Abdullahi; S.M. Fasih ur Rehman
International Journal of Mechatronics and Manufacturing Systems (IJMMS), Vol. 16, No. 4, 2023
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.
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