0

Full Content is available to subscribers

Subscribe/Learn More  >

A Smooth Multimode Waveform Command Shaping Considering the Effect of Hoisting

[+] Author Affiliations
Khaled A. Alhazza

Kuwait University, Kuwait City, Kuwait

Paper No. IMECE2016-65665, pp. V04BT05A035; 7 pages
doi:10.1115/IMECE2016-65665
From:
  • ASME 2016 International Mechanical Engineering Congress and Exposition
  • Volume 4B: Dynamics, Vibration, and Control
  • Phoenix, Arizona, USA, November 11–17, 2016
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-5055-8
  • Copyright © 2016 by ASME

abstract

Input shaping and command shaping control techniques are the subject of large body of research in the past several decades. Most of the research is dedicated to time invariant single-mode systems. For a double pendulum hoisting system, hoisting results in a complex system of equations of motion. For rest-to-rest maneuvers, it is a common practice in research to split maneuvers into three consecutive independent stages; hoisting up the payload from an initial position, moving it horizontally, and finally lowering it to a final location. Input shaping is used is the horizontal travel motion stage to eliminate inertia excited vibrations. Although, this approach is effective, significant time penalties are involved due to the split motion approach. Further, traditional input shaping techniques involve significant jerks in the motion commands. To overcome these drawbacks, a new smooth waveform command shaping technique is proposed to enable concurrent hoisting and travel actions. The equations of motion including time varying coefficients are derived and used to determine the coefficients of an optimum waveform shaped command profile. Genetic algorithm optimization technique is used to find the optimal values of the command parameters. The initial values of these parameters are determined assuming a constant cable length. The effectiveness of the shaped command is demonstrated through numerical simulations and experiments on a scaled model of double pendulum using different maneuvers involving simultaneous travel and linear hoisting.

Copyright © 2016 by ASME

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In