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Experimental investigations of command shaping techniques for antsway control of double pendulum gantry crane system = kajian penyiasatan teknik pembentukan arahan untuk kawalan anti-ayunan bagi sistem kren dwi-pendulum

Mohd Ashraf, Ahmad and Mohd Syakirin, Ramli and Nasrul Salim, Pakheri and Nor Maniha, Abdul Ghani and Raja Mohd Taufika, Raja Ismail (2011) Experimental investigations of command shaping techniques for antsway control of double pendulum gantry crane system = kajian penyiasatan teknik pembentukan arahan untuk kawalan anti-ayunan bagi sistem kren dwi-pendulum. Other thesis, Universiti Malaysia Pahang.

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Abstract

The sway motion of crane can be successfully suppressed by properly shaping the reference command. Input shaping is a one type of feed-forward shaping method that is based on linear superposition. In this project, we present the impact of double pendulum type overhead crane (DPTOC) system on the effectiveness of input shaping. An unshaped bang-bang input force is used to determine the characteristic parameters of the system for design and evaluation of the input shaping control techniques. The input shapers with the derivative effects are designed based on the properties of the system. The response DPTOC system to shaped input is experimentally verified in time and frequency domain. The performance of the input shaper is examined in terms of sway angle reduction and time response specification. Experimental results demonstrate the effectiveness of the proposed approach in reducing the sway motion of crane system.

Item Type: Thesis (Other)
Additional Information: RDU (Faculty of Electrical & Electronic Engineering) -- Universiti Malaysia Pahang – 2011
Uncontrolled Keywords: Double pendulum type overhead crane (DPTOC) system; Gantry cranes
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Electrical & Electronic Engineering
Depositing User: Ms. 'Arifah Nadiah Che Zainol Ariff
Date Deposited: 22 Mar 2016 07:52
Last Modified: 13 Sep 2017 04:07
URI: http://umpir.ump.edu.my/id/eprint/12110
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