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A Novel Wave-Form Command-Shaping Control With Application on Overhead Cranes

[+] Author Affiliations
Khaled A. Alhazza

Kuwait University, Safat, Kuwait

Ziyad N. Masoud

The Hashemite University, Zarqa, Jordan

Paper No. DSCC2010-4132, pp. 331-336; 6 pages
doi:10.1115/DSCC2010-4132
From:
  • ASME 2010 Dynamic Systems and Control Conference
  • ASME 2010 Dynamic Systems and Control Conference, Volume 2
  • Cambridge, Massachusetts, USA, September 12–15, 2010
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4418-2 | eISBN: 978-0-7918-3884-6
  • Copyright © 2010 by ASME

abstract

In this work, a novel continuous command-shaping control strategy for a simple harmonic oscillator is proposed and implemented on an overhead crane model. A Wave-Form (WF) acceleration command profile is derived analytically, and its performance is validated numerically. To enhance the performance of the proposed command-shaping control strategy, a Modulated Wave-Form (MWF) acceleration command profile is derived. It was determined that the proposed Wave-Form and Modulated Wave-Form command profiles are capable of eliminating the travel and residual oscillations. Furthermore, unlike traditional impulse and step command-shaping, the proposed command profiles have smoother intermediate acceleration, velocity, and displacement profiles.

Copyright © 2010 by ASME
Topics: Gantry cranes , Waves

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