The Investigations of Command Shaping and Non-collocated PID Schemes in Hybrid Trajectory and Sway Control of a DPTOC System

This paper presents investigations into the development of hybrid control schemes for trajectory tracking and sway control of a double-pendulum-type overhead crane (DPTOC) system. A nonlinear DPTOC system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulati...

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Main Author:	Mohd Ashraf, Ahmad
Format:	Article
Language:	English
Published:	MedWell, Journal 2010
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/2443/ http://umpir.ump.edu.my/id/eprint/2443/ http://umpir.ump.edu.my/id/eprint/2443/2/the_investigations_of_command_shaping.pdf

id	ump-2443
recordtype	eprints
spelling	ump-24432018-02-06T01:05:58Z http://umpir.ump.edu.my/id/eprint/2443/ The Investigations of Command Shaping and Non-collocated PID Schemes in Hybrid Trajectory and Sway Control of a DPTOC System Mohd Ashraf, Ahmad TK Electrical engineering. Electronics Nuclear engineering This paper presents investigations into the development of hybrid control schemes for trajectory tracking and sway control of a double-pendulum-type overhead crane (DPTOC) system. A nonlinear DPTOC system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. The proposed method, known as the Single Input Fuzzy Logic Controller (SIFLC), reduces the conventional two-input FLC (CFLC) to a single input single output (SISO) controller. The SIFLC is developed for position control of cart movement. This is then extended to incorporate input shaping and non-collocated parallel proportional-integral-derivative (PID) schemes for both hook and load sway angle suppression. The positive input shapers with the derivative effects are designed based on the properties of the system. The results of the response with the controllers are presented in time and frequency domains. The performances of control schemes are examined in terms of level of input tracking capability, sway angle reduction and time response specifications in comparison to SIFLC controller. Finally, a comparative assessment of the control techniques is discussed and presented. MedWell, Journal 2010 Article PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/2443/2/the_investigations_of_command_shaping.pdf Mohd Ashraf, Ahmad (2010) The Investigations of Command Shaping and Non-collocated PID Schemes in Hybrid Trajectory and Sway Control of a DPTOC System. Research Journal of Applied Sciences, 5 (5). pp. 320-327. ISSN 1815-932X http://www.medwelljournals.com/abstract/?doi=rjasci.2010.320.327
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Mohd Ashraf, Ahmad The Investigations of Command Shaping and Non-collocated PID Schemes in Hybrid Trajectory and Sway Control of a DPTOC System
description	This paper presents investigations into the development of hybrid control schemes for trajectory tracking and sway control of a double-pendulum-type overhead crane (DPTOC) system. A nonlinear DPTOC system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. The proposed method, known as the Single Input Fuzzy Logic Controller (SIFLC), reduces the conventional two-input FLC (CFLC) to a single input single output (SISO) controller. The SIFLC is developed for position control of cart movement. This is then extended to incorporate input shaping and non-collocated parallel proportional-integral-derivative (PID) schemes for both hook and load sway angle suppression. The positive input shapers with the derivative effects are designed based on the properties of the system. The results of the response with the controllers are presented in time and frequency domains. The performances of control schemes are examined in terms of level of input tracking capability, sway angle reduction and time response specifications in comparison to SIFLC controller. Finally, a comparative assessment of the control techniques is discussed and presented.
format	Article
author	Mohd Ashraf, Ahmad
author_facet	Mohd Ashraf, Ahmad
author_sort	Mohd Ashraf, Ahmad
title	The Investigations of Command Shaping and Non-collocated PID Schemes in Hybrid Trajectory and Sway Control of a DPTOC System
title_short	The Investigations of Command Shaping and Non-collocated PID Schemes in Hybrid Trajectory and Sway Control of a DPTOC System
title_full	The Investigations of Command Shaping and Non-collocated PID Schemes in Hybrid Trajectory and Sway Control of a DPTOC System
title_fullStr	The Investigations of Command Shaping and Non-collocated PID Schemes in Hybrid Trajectory and Sway Control of a DPTOC System
title_full_unstemmed	The Investigations of Command Shaping and Non-collocated PID Schemes in Hybrid Trajectory and Sway Control of a DPTOC System
title_sort	investigations of command shaping and non-collocated pid schemes in hybrid trajectory and sway control of a dptoc system
publisher	MedWell, Journal
publishDate	2010
url	http://umpir.ump.edu.my/id/eprint/2443/ http://umpir.ump.edu.my/id/eprint/2443/ http://umpir.ump.edu.my/id/eprint/2443/2/the_investigations_of_command_shaping.pdf
first_indexed	2023-09-18T21:56:14Z
last_indexed	2023-09-18T21:56:14Z
_version_	1777414097909841920

The Investigations of Command Shaping and Non-collocated PID Schemes in Hybrid Trajectory and Sway Control of a DPTOC System

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