This Article Full Text (OnlineFirst PDF) Alert me when this article is cited Alert me if a correction is posted Services Email this article to a friend Similar articles in this journal Alert me to new issues of the journal Add to Saved Citations Download to citation manager Request Permissions Request Reprints Add to My Marked Citations Citing Articles Citing Articles via Scopus Google Scholar Articles by Blackburn, D Articles by Taura, A. Social Bookmarking                         What's this?

Command Shaping for Nonlinear Crane Dynamics

¹ Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA
² Tokyo Institute of Technology, Tokyo, Japan

^* To whom correspondence should be addressed. E-mail: Singhose{at}gatech.edu.

	Abstract

Motion-induced vibration can be greatly reduced by properly shaping the reference command. Input shaping is one type of reference shaping method that is based largely on linear superposition. In this paper we document the impact of nonlinear crane dynamics on the effectiveness of input shaping. As typical bridge cranes are driven using Cartesian motions, they behave nearly linearly for low- and moderate-velocity motions. On the other hand, the natural rotational motions of tower cranes make them more nonlinear. The nonlinear equations of motion for both bridge and tower cranes are presented and experimentally verified using two portable cranes. The effectiveness of input shaping on the near-linear bridge crane is explained. Then, a command-shaping algorithm is developed to improve vibration reduction during the more nonlinear slewing motions of the tower crane. Experimental results demonstrate the effectiveness of the proposed approach over a wide range of operating conditions.

First published on October 28, 2009
Journal of Vibration and Control 2009, doi:10.1177/1077546309106142


CiteULike    Complore    Connotea    Del.icio.us    Digg    Reddit    Technorati    Twitter    What's this?