Implementation of Input Shaping in Hybrid Control Schemes of a Lab-Scaled Rotary Crane System

Implementation of Input Shaping in Hybrid Control Schemes of a Lab-Scaled Rotary Crane System

This paper presents investigations into the implementation of input shaping techniques in hybrid control schemes of a rotary crane system. A lab-scaled rotary crane is considered and the dynamic model of the system is derived using Euler-Lagrange formulation. To study the effectiveness of the contro...

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Main Authors: Mohd Ashraf, Ahmad, Mohd Syakirin, Ramli, Mohd Anwar, Zawawi, Raja Mohd Taufika, Raja Ismail
Format: Conference or Workshop Item
Language:English
Published: 2010
Subjects:
TJ Mechanical engineering and machinery
Online Access:http://umpir.ump.edu.my/id/eprint/3789/
http://umpir.ump.edu.my/id/eprint/3789/
http://umpir.ump.edu.my/id/eprint/3789/1/ICIT2010.pdf
id ump-3789
recordtype eprints
spelling ump-37892018-02-02T07:56:33Z http://umpir.ump.edu.my/id/eprint/3789/ Implementation of Input Shaping in Hybrid Control Schemes of a Lab-Scaled Rotary Crane System Mohd Ashraf, Ahmad Mohd Syakirin, Ramli Mohd Anwar, Zawawi Raja Mohd Taufika, Raja Ismail TJ Mechanical engineering and machinery This paper presents investigations into the implementation of input shaping techniques in hybrid control schemes of a rotary crane system. A lab-scaled rotary crane is considered and the dynamic model of the system is derived using Euler-Lagrange formulation. To study the effectiveness of the controllers, initially a collocated proportional-derivative (PD) control is developed for horizontal angle position control of rotary crane. This is then extended to incorporate input shaping techniques for anti-swaying control of the system. The positive and modified Specified Negative Amplitude (SNA) input shaping with different derivative orders respectively were designed based on the properties of the system. Implementation results of the response of the rotary crane with the controllers are presented in time and frequency domains. The performances of input shaping in hybrid control schemes are examined in terms of level of input tracking capability, swing angle reduction, and time response specifications. Finally a comparative assessment of the control techniques is discussed and presented. 2010 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/3789/1/ICIT2010.pdf Mohd Ashraf, Ahmad and Mohd Syakirin, Ramli and Mohd Anwar, Zawawi and Raja Mohd Taufika, Raja Ismail (2010) Implementation of Input Shaping in Hybrid Control Schemes of a Lab-Scaled Rotary Crane System. In: International Conference on Industrial Technology, 14-17 Mac 2010 , Vi a del Mar, Chile. pp. 530-534.. http://dx.doi.org/10.1109/ICIT.2010.5472746
repository_type Digital Repository
institution_category Local University
institution Universiti Malaysia Pahang
building UMP Institutional Repository
collection Online Access
language English
topic TJ Mechanical engineering and machinery
spellingShingle TJ Mechanical engineering and machinery
Mohd Ashraf, Ahmad
Mohd Syakirin, Ramli
Mohd Anwar, Zawawi
Raja Mohd Taufika, Raja Ismail
Implementation of Input Shaping in Hybrid Control Schemes of a Lab-Scaled Rotary Crane System
description This paper presents investigations into the implementation of input shaping techniques in hybrid control schemes of a rotary crane system. A lab-scaled rotary crane is considered and the dynamic model of the system is derived using Euler-Lagrange formulation. To study the effectiveness of the controllers, initially a collocated proportional-derivative (PD) control is developed for horizontal angle position control of rotary crane. This is then extended to incorporate input shaping techniques for anti-swaying control of the system. The positive and modified Specified Negative Amplitude (SNA) input shaping with different derivative orders respectively were designed based on the properties of the system. Implementation results of the response of the rotary crane with the controllers are presented in time and frequency domains. The performances of input shaping in hybrid control schemes are examined in terms of level of input tracking capability, swing angle reduction, and time response specifications. Finally a comparative assessment of the control techniques is discussed and presented.
format Conference or Workshop Item
author Mohd Ashraf, Ahmad
Mohd Syakirin, Ramli
Mohd Anwar, Zawawi
Raja Mohd Taufika, Raja Ismail
author_facet Mohd Ashraf, Ahmad
Mohd Syakirin, Ramli
Mohd Anwar, Zawawi
Raja Mohd Taufika, Raja Ismail
author_sort Mohd Ashraf, Ahmad
title Implementation of Input Shaping in Hybrid Control Schemes of a Lab-Scaled Rotary Crane System
title_short Implementation of Input Shaping in Hybrid Control Schemes of a Lab-Scaled Rotary Crane System
title_full Implementation of Input Shaping in Hybrid Control Schemes of a Lab-Scaled Rotary Crane System
title_fullStr Implementation of Input Shaping in Hybrid Control Schemes of a Lab-Scaled Rotary Crane System
title_full_unstemmed Implementation of Input Shaping in Hybrid Control Schemes of a Lab-Scaled Rotary Crane System
title_sort implementation of input shaping in hybrid control schemes of a lab-scaled rotary crane system
publishDate 2010
url http://umpir.ump.edu.my/id/eprint/3789/
http://umpir.ump.edu.my/id/eprint/3789/
http://umpir.ump.edu.my/id/eprint/3789/1/ICIT2010.pdf
first_indexed 2023-09-18T21:58:18Z
last_indexed 2023-09-18T21:58:18Z
_version_ 1777414227546341376

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