Position and sway control of a nonlinear tower crane system using input shaping techniques

Crane systems are the most widely used tools in the shipping yards and construction sites to transport goods from one point to another. The emergence of high riser-building, encourages the use of modern systems particularly tower crane systems to conveniently execute various tasks within the shortes...

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Main Author:	Ahmad Bala, Alhassan
Format:	Thesis
Language:	English
Published:	2018
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/80872/1/AlHassanAhmadBalaMFKE2015.pdf
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spelling	my-utm-ep.808722019-07-24T00:08:23Z Position and sway control of a nonlinear tower crane system using input shaping techniques 2018-12 Ahmad Bala, Alhassan TK Electrical engineering. Electronics Nuclear engineering Crane systems are the most widely used tools in the shipping yards and construction sites to transport goods from one point to another. The emergence of high riser-building, encourages the use of modern systems particularly tower crane systems to conveniently execute various tasks within the shortest possible time. However, those systems suffered greatly from undesired swinging during the process. Conversely, this significantly posed problems to the systems, resulting to inaccurate positioning of the payload, unease of operation by the human operator and in some cases even damage to the system. This paper investigates the performance of input shaping techniques for sway control of a tower crane system. Unlike the conventional optimal controllers, input shaping is simple to design and cost effective as it does not require feedback sensors. Several input shapers were implemented and their performances were compared which are useful for future sway control designs. The nonlinear model of the system was derived using the Lagrange’s energy equation. To investigate the performance and robustness of input shaping techniques, zero vibration (ZV), zero vibration derivative (ZVD), zero vibration derivative-derivative (ZVDD) and zero vibration derivative-derivative-derivative (ZVDDD) were proposed with a constant cable dimension in an open loop configuration. Simulation and experimental results have shown that ZVDDD with the slowest response has the highest level of sway reduction and robustness to modelling errors as compared to ZV, ZVD and ZVDD. Moreover, to improve the response, a negative amplitude zero vibration derivative-derivative (NAZVDD) was designed and its performance was compared with ZVDD. It is found that NAZVDD gives a faster response with small robustness penalty as compared to ZVDD. 2018-12 Thesis http://eprints.utm.my/id/eprint/80872/ http://eprints.utm.my/id/eprint/80872/1/AlHassanAhmadBalaMFKE2015.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:119998 masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering Ahmad Bala, Alhassan Position and sway control of a nonlinear tower crane system using input shaping techniques
description	Crane systems are the most widely used tools in the shipping yards and construction sites to transport goods from one point to another. The emergence of high riser-building, encourages the use of modern systems particularly tower crane systems to conveniently execute various tasks within the shortest possible time. However, those systems suffered greatly from undesired swinging during the process. Conversely, this significantly posed problems to the systems, resulting to inaccurate positioning of the payload, unease of operation by the human operator and in some cases even damage to the system. This paper investigates the performance of input shaping techniques for sway control of a tower crane system. Unlike the conventional optimal controllers, input shaping is simple to design and cost effective as it does not require feedback sensors. Several input shapers were implemented and their performances were compared which are useful for future sway control designs. The nonlinear model of the system was derived using the Lagrange’s energy equation. To investigate the performance and robustness of input shaping techniques, zero vibration (ZV), zero vibration derivative (ZVD), zero vibration derivative-derivative (ZVDD) and zero vibration derivative-derivative-derivative (ZVDDD) were proposed with a constant cable dimension in an open loop configuration. Simulation and experimental results have shown that ZVDDD with the slowest response has the highest level of sway reduction and robustness to modelling errors as compared to ZV, ZVD and ZVDD. Moreover, to improve the response, a negative amplitude zero vibration derivative-derivative (NAZVDD) was designed and its performance was compared with ZVDD. It is found that NAZVDD gives a faster response with small robustness penalty as compared to ZVDD.
format	Thesis
qualification_level	Master's degree
author	Ahmad Bala, Alhassan
author_facet	Ahmad Bala, Alhassan
author_sort	Ahmad Bala, Alhassan
title	Position and sway control of a nonlinear tower crane system using input shaping techniques
title_short	Position and sway control of a nonlinear tower crane system using input shaping techniques
title_full	Position and sway control of a nonlinear tower crane system using input shaping techniques
title_fullStr	Position and sway control of a nonlinear tower crane system using input shaping techniques
title_full_unstemmed	Position and sway control of a nonlinear tower crane system using input shaping techniques
title_sort	position and sway control of a nonlinear tower crane system using input shaping techniques
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2018
url	http://eprints.utm.my/id/eprint/80872/1/AlHassanAhmadBalaMFKE2015.pdf
_version_	1747818273732296704

Position and sway control of a nonlinear tower crane system using input shaping techniques

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