Using approximate multi-crane frequencies for input shaper design

Joshua Vaughan, Jieun Yoo, William Singhose

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

7 Scopus citations

Abstract

Cranes are the primary heavy lifter used in a wide array of industries. For the transport of large payloads, multiple cranes are often employed in a cooperative manner. One factor limiting the efficiency of all cranes is payload oscillation. For multi-crane lifts, the payload oscillation is a function of an array of crane and payload parameters, many of which are difficult to measure in real-time. This paper investigates the use of the estimates of the multi-crane natural frequencies in input shaper design. Two methods to design input shapers that rely only on the suspension cable lengths involved in the lift are presented. The accuracy of these estimations and the resulting effectiveness of input-shaping control are studied via simulation and experimental testing with a two-crane system.

Original languageEnglish
Title of host publicationICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems
Pages639-644
Number of pages6
StatePublished - 2012
Externally publishedYes
Event2012 12th International Conference on Control, Automation and Systems, ICCAS 2012 - Jeju, Korea, Republic of
Duration: Oct 17 2012Oct 21 2012

Publication series

NameInternational Conference on Control, Automation and Systems
ISSN (Print)1598-7833

Conference

Conference2012 12th International Conference on Control, Automation and Systems, ICCAS 2012
Country/TerritoryKorea, Republic of
CityJeju
Period10/17/1210/21/12

Keywords

  • Command generation
  • Crane Control
  • Input shaping
  • Multi-crane systems

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