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Implementation of Input Shaping in Hybrid Control Schemes of a Lab-Scaled Rotary Crane System

Mohd Ashraf, Ahmad and Mohd Syakirin, Ramli and Mohd Anwar, Zawawi and Raja Mohd Taufika, Raja Ismail (2010) Implementation of Input Shaping in Hybrid Control Schemes of a Lab-Scaled Rotary Crane System. In: International Conference on Industrial Technology, 14-17 Mac 2010 , Vi a del Mar, Chile. pp. 530-534..

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This paper presents investigations into the implementation of input shaping techniques in hybrid control schemes of a rotary crane system. A lab-scaled rotary crane is considered and the dynamic model of the system is derived using Euler-Lagrange formulation. To study the effectiveness of the controllers, initially a collocated proportional-derivative (PD) control is developed for horizontal angle position control of rotary crane. This is then extended to incorporate input shaping techniques for anti-swaying control of the system. The positive and modified Specified Negative Amplitude (SNA) input shaping with different derivative orders respectively were designed based on the properties of the system. Implementation results of the response of the rotary crane with the controllers are presented in time and frequency domains. The performances of input shaping in hybrid control schemes are examined in terms of level of input tracking capability, swing angle reduction, and time response specifications. Finally a comparative assessment of the control techniques is discussed and presented.

Item Type: Conference or Workshop Item (Speech)
Additional Information: DOI: 10.1109/ICIT.2010.5472746 E-ISBN : 978-1-4244-5696-3 Print ISBN: 978-1-4244-5695-6 INSPEC Accession Number: 11356726 Please click to Official URL
Uncontrolled Keywords: Rotary crane; Anti-sway control; Input shaping techniques; Collocated PD.
Subjects: T Technology > TJ Mechanical engineering and machinery
Faculty/Division: Faculty of Electrical & Electronic Engineering
Depositing User: Noorul Farina Arifin
Date Deposited: 06 Jun 2013 04:56
Last Modified: 02 Feb 2018 07:56
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