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Robust Input Shaping for Swing Control of an Overhead Crane

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Methods and Applications for Modeling and Simulation of Complex Systems (AsiaSim 2023)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 1912))

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Abstract

Underactuated robotic and mechatronic systems have been employed in many practical applications for a long time. It is crucial to increase crane efficiency for practical applications; yet the primary factor limiting crane efficiency is the payload swing driven on by inertia or outside disturbances. The swing of the crane's payload mass, which moves like a pendulum, has created numerous challenges since it can collide with the operator and result in accidents. This paper presents the simulation implementation of an open-loop input-shaper controller to control the swing angle of an overhead crane. A mathematical model of the two-dimensional overhead crane and input shaper controller was constructed. The model of the overhead crane and the input shaper was created in MATLAB/Simulink and the simulation was executed. This paper evaluated the performance and robustness of input shaping techniques with constant cable length using the zero vibration (ZV), zero vibration derivative (ZVD), zero vibration derivative-derivative (ZVDD), and zero vibration derivative-derivative-derivative (ZVDDD). The payload mass varied in two cases which are 1 kg and 0.3 kg. Based on the simulation results, ZVDDD controller showed the highest reductions in the overall and residual payload swing with 91% for both cases. It is envisaged that the proposed method can be used for improving the robustness of input shapers for payload swing suppression of an overhead crane.

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Acknowledgement

The authors gratefully acknowledge the Malaysian Education Ministry for the financial support it provided via the Fundamental Grant Research Scheme (FRGS/1/2020/TK0/ USIM/02/2).

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Authors and Affiliations

  1. Universiti Sains Islam Malaysia, 71800, Nilai, Malaysia

    Amalin Aisya Mohd Awi, Siti Sarah Nabila Nor Zawawi, Liyana Ramli & Izzuddin M. Lazim

  2. Department of Electrical and Electronic Engineering, Faculty of Engineering and Built Environment, 71800, Nilai, Negeri Sembilan, Malaysia

    Amalin Aisya Mohd Awi, Siti Sarah Nabila Nor Zawawi, Liyana Ramli & Izzuddin M. Lazim

Authors
  1. Amalin Aisya Mohd Awi
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  2. Siti Sarah Nabila Nor Zawawi
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  3. Liyana Ramli
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  4. Izzuddin M. Lazim
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Corresponding author

Correspondence to Liyana Ramli .

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Editors and Affiliations

  1. Universiti Teknologi Malaysia, Johor, Malaysia

    Fazilah Hassan

  2. Universiti Teknologi Malaysia, Johor, Malaysia

    Noorhazirah Sunar

  3. Universiti Teknologi Malaysia, Johor, Malaysia

    Mohd Ariffanan Mohd Basri

  4. Universiti Teknologi Malaysia, Johor, Malaysia

    Mohd Saiful Azimi Mahmud

  5. Universiti Teknologi Malaysia, Johor, Malaysia

    Mohamad Hafis Izran Ishak

  6. Universiti Teknologi Malaysia, Johor, Malaysia

    Mohamed Sultan Mohamed Ali

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Awi, A.A.M., Zawawi, S.S.N.N., Ramli, L., Lazim, I.M. (2024). Robust Input Shaping for Swing Control of an Overhead Crane. In: Hassan, F., Sunar, N., Mohd Basri, M.A., Mahmud, M.S.A., Ishak, M.H.I., Mohamed Ali, M.S. (eds) Methods and Applications for Modeling and Simulation of Complex Systems. AsiaSim 2023. Communications in Computer and Information Science, vol 1912. Springer, Singapore. https://doi.org/10.1007/978-981-99-7243-2_15

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  • DOI: https://doi.org/10.1007/978-981-99-7243-2_15

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