Trajectory Control and Sway Suppression of a Rotary Crane System

This paper presents investigations into the development of hybrid control schemes for input tracking and anti-swaying control 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...

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Main Authors:	Mohd Ashraf, Ahmad, Mohd Syakirin, Ramli, Raja Mohd Taufika, Raja Ismail, Reza Ezuan, Samin
Other Authors:	Billingsley, John
Format:	Book Section
Language:	English
Published:	Springer-Verlag 2015
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/9116/ http://umpir.ump.edu.my/id/eprint/9116/ http://umpir.ump.edu.my/id/eprint/9116/ http://umpir.ump.edu.my/id/eprint/9116/1/fkee-2015-Ashraf-Trajectory%20Control%20and%20Sway.pdf

id	ump-9116
recordtype	eprints
spelling	ump-91162018-02-02T02:53:41Z http://umpir.ump.edu.my/id/eprint/9116/ Trajectory Control and Sway Suppression of a Rotary Crane System Mohd Ashraf, Ahmad Mohd Syakirin, Ramli Raja Mohd Taufika, Raja Ismail Reza Ezuan, Samin TK Electrical engineering. Electronics Nuclear engineering This paper presents investigations into the development of hybrid control schemes for input tracking and anti-swaying control 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 shaper control schemes for anti-swaying control of the system. The positive input shapers with the derivative effects are 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 hybrid control schemes are examined in terms of the level of input tracking capability, swing angle reduction, and time response specifications in comparison to PD control. Finally a comparative assessment of the control techniques is discussed and presented. Springer-Verlag Billingsley, John Brett, Peter 2015 Book Section PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/9116/1/fkee-2015-Ashraf-Trajectory%20Control%20and%20Sway.pdf Mohd Ashraf, Ahmad and Mohd Syakirin, Ramli and Raja Mohd Taufika, Raja Ismail and Reza Ezuan, Samin (2015) Trajectory Control and Sway Suppression of a Rotary Crane System. In: Machine Vision and Mechatronics in Practice. Springer-Verlag, Berlin Heidelberg, pp. 165-175. ISBN 978-3-662-45513-5 (print); 978-3-662-45514-2 (online) http://dx.doi.org/10.1007/978-3-662-45514-2_14 DOI: 10.1007/978-3-662-45514-2_14
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 Mohd Syakirin, Ramli Raja Mohd Taufika, Raja Ismail Reza Ezuan, Samin Trajectory Control and Sway Suppression of a Rotary Crane System
description	This paper presents investigations into the development of hybrid control schemes for input tracking and anti-swaying control 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 shaper control schemes for anti-swaying control of the system. The positive input shapers with the derivative effects are 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 hybrid control schemes are examined in terms of the level of input tracking capability, swing angle reduction, and time response specifications in comparison to PD control. Finally a comparative assessment of the control techniques is discussed and presented.
author2	Billingsley, John
author_facet	Billingsley, John Mohd Ashraf, Ahmad Mohd Syakirin, Ramli Raja Mohd Taufika, Raja Ismail Reza Ezuan, Samin
format	Book Section
author	Mohd Ashraf, Ahmad Mohd Syakirin, Ramli Raja Mohd Taufika, Raja Ismail Reza Ezuan, Samin
author_sort	Mohd Ashraf, Ahmad
title	Trajectory Control and Sway Suppression of a Rotary Crane System
title_short	Trajectory Control and Sway Suppression of a Rotary Crane System
title_full	Trajectory Control and Sway Suppression of a Rotary Crane System
title_fullStr	Trajectory Control and Sway Suppression of a Rotary Crane System
title_full_unstemmed	Trajectory Control and Sway Suppression of a Rotary Crane System
title_sort	trajectory control and sway suppression of a rotary crane system
publisher	Springer-Verlag
publishDate	2015
url	http://umpir.ump.edu.my/id/eprint/9116/ http://umpir.ump.edu.my/id/eprint/9116/ http://umpir.ump.edu.my/id/eprint/9116/ http://umpir.ump.edu.my/id/eprint/9116/1/fkee-2015-Ashraf-Trajectory%20Control%20and%20Sway.pdf
first_indexed	2023-09-18T22:07:20Z
last_indexed	2023-09-18T22:07:20Z
_version_	1777414796326469632

Trajectory Control and Sway Suppression of a Rotary Crane System

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