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
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 eff...
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2011
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my-ump-ir.121102021-08-24T03:57:06Z 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 2011 Mohd Ashraf, Ahmad Mohd Syakirin, Ramli Nasrul Salim, Pakheri Nor Maniha, Abdul Ghani Raja Mohd Taufika, Raja Ismail TK Electrical engineering. Electronics Nuclear engineering 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. 2011 Thesis http://umpir.ump.edu.my/id/eprint/12110/ http://umpir.ump.edu.my/id/eprint/12110/1/MOHD%20ASHRAF%20BIN%20AHMAD.PDF application/pdf en public other Universiti Malaysia Pahang Faculty of Electrical & Electronic Engineering |
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Universiti Malaysia Pahang Al-Sultan Abdullah |
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UMPSA Institutional Repository |
| language |
English |
| topic |
TK Electrical engineering Electronics Nuclear engineering |
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TK Electrical engineering Electronics Nuclear engineering Mohd Ashraf, Ahmad Mohd Syakirin, Ramli Nasrul Salim, Pakheri Nor Maniha, Abdul Ghani Raja Mohd Taufika, Raja Ismail 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 |
| description |
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. |
| format |
Thesis |
| qualification_level |
other |
| author |
Mohd Ashraf, Ahmad Mohd Syakirin, Ramli Nasrul Salim, Pakheri Nor Maniha, Abdul Ghani Raja Mohd Taufika, Raja Ismail |
| author_facet |
Mohd Ashraf, Ahmad Mohd Syakirin, Ramli Nasrul Salim, Pakheri Nor Maniha, Abdul Ghani Raja Mohd Taufika, Raja Ismail |
| author_sort |
Mohd Ashraf, Ahmad |
| title |
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 |
| title_short |
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 |
| title_full |
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 |
| title_fullStr |
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 |
| title_full_unstemmed |
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 |
| title_sort |
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 |
| granting_institution |
Universiti Malaysia Pahang |
| granting_department |
Faculty of Electrical & Electronic Engineering |
| publishDate |
2011 |
| url |
http://umpir.ump.edu.my/id/eprint/12110/1/MOHD%20ASHRAF%20BIN%20AHMAD.PDF |
| _version_ |
1783731966388994048 |