Command shaping control of a crane system

Cranes are widely used for transportation of heavy material in factories, warehouse, shipping yards, building construction and nuclear facilities. There are 3 major types of crane system: gantry (overhead) crane, rotary (tower) crane and boom crane. This project will concentrate in controlling of ga...

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Main Author:	King, Shyang Sien
Format:	Thesis
Language:	English
Published:	2006
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.utm.my/id/eprint/308/1/KingShyangSienMFKE2006.pdf
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id	my-utm-ep.308
record_format	uketd_dc
spelling	my-utm-ep.3082018-02-20T00:06:58Z Command shaping control of a crane system 2006-11 King, Shyang Sien TJ Mechanical engineering and machinery Cranes are widely used for transportation of heavy material in factories, warehouse, shipping yards, building construction and nuclear facilities. There are 3 major types of crane system: gantry (overhead) crane, rotary (tower) crane and boom crane. This project will concentrate in controlling of gantry crane. First of all, the equations of motion of the gantry crane system are derived by using Lagrangian approach. Then, the model of the gantry crane system is developed to represent the dynamic equations of motion in state space. SIMULINK is used to simulate the dynamic behaviours of the gantry crane. From the simulation, we noticed that the motion of the payload and trolley are unstable with occurrence of the oscillation. The system became undamped system when the input force is taken off. The system will swing on its varying frequencies in this condition. The challenge of this project is to develop a control algorithm for gantry crane system to reduce the oscillation or vibration of the payload and hook. Input shaping command controller is introduced in this project to control the crane system. Input shaping command controller is a feed-forward controller. This project had studied the performance of this designed controller in the crane system. With this controller the gantry crane system is able to transfer the load from point to point as fast as possible and, at the same time, the load swing is kept small during the transfer process and completely vanishes at the load destination 2006-11 Thesis http://eprints.utm.my/id/eprint/308/ http://eprints.utm.my/id/eprint/308/1/KingShyangSienMFKE2006.pdf application/pdf en public masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery King, Shyang Sien Command shaping control of a crane system
description	Cranes are widely used for transportation of heavy material in factories, warehouse, shipping yards, building construction and nuclear facilities. There are 3 major types of crane system: gantry (overhead) crane, rotary (tower) crane and boom crane. This project will concentrate in controlling of gantry crane. First of all, the equations of motion of the gantry crane system are derived by using Lagrangian approach. Then, the model of the gantry crane system is developed to represent the dynamic equations of motion in state space. SIMULINK is used to simulate the dynamic behaviours of the gantry crane. From the simulation, we noticed that the motion of the payload and trolley are unstable with occurrence of the oscillation. The system became undamped system when the input force is taken off. The system will swing on its varying frequencies in this condition. The challenge of this project is to develop a control algorithm for gantry crane system to reduce the oscillation or vibration of the payload and hook. Input shaping command controller is introduced in this project to control the crane system. Input shaping command controller is a feed-forward controller. This project had studied the performance of this designed controller in the crane system. With this controller the gantry crane system is able to transfer the load from point to point as fast as possible and, at the same time, the load swing is kept small during the transfer process and completely vanishes at the load destination
format	Thesis
qualification_level	Master's degree
author	King, Shyang Sien
author_facet	King, Shyang Sien
author_sort	King, Shyang Sien
title	Command shaping control of a crane system
title_short	Command shaping control of a crane system
title_full	Command shaping control of a crane system
title_fullStr	Command shaping control of a crane system
title_full_unstemmed	Command shaping control of a crane system
title_sort	command shaping control of a crane system
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2006
url	http://eprints.utm.my/id/eprint/308/1/KingShyangSienMFKE2006.pdf
_version_	1747814354246434816

Command shaping control of a crane system

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