Effects of hoisting on the input shaping control of gantry cranes

被引：275

作者：

Singhose, W

Porter, L

Kenison, M

Kriikku, E

机构：

[1] Georgia Inst Technol, Dept Mech Engn, Atlanta, GA 30332 USA

[2] ATO, DARPA, Arlington, VA 22203 USA

[3] Schlumberger, Rosharon, TX 77583 USA

[4] Westinghouse Savannah River Co, Savannah River Technol Ctr, Aiken, SC USA

来源：

CONTROL ENGINEERING PRACTICE | 2000年 / 8卷 / 10期

关键词：

vibration; input shaping; command generation; crane dynamics;

D O I：

10.1016/S0967-0661(00)00054-X

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The dynamic behavior of a planar gantry crane with hoisting of the load is investigated. The command generation method of input shaping is proposed for reduction of the residual vibration. Several versions of input shaping are evaluated and compared with time-optimal rigid-body commands over a wide range of parameters. Input shaping provides significant reduction in both the residual and transient oscillations, even when the hoisting distance is a large percentage of the cable length. Experimental results from a 15-ton gantry crane at the Savannah River Technology Center are used to support the numerical results. (C) 2000 Elsevier Science Ltd. AII rights reserved.

引用

页码：1159 / 1165

页数：7

共 21 条

[1] OPTIMAL-CONTROL OF OVERHEAD CRANES [J].