A graphical approach to input-shaping control design for container cranes with hoist

Ziyad N. Masoud; Mohammed F. Daqaq

doi:10.1109/TCST.2006.883194

A graphical approach to input-shaping control design for container cranes with hoist

Ziyad N. Masoud, Mohammed F. Daqaq

Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

A traditional input-shaping technique is adapted to control transfer maneuvers on quay-side container cranes. The controller is developed using an accurate two-dimensional four-bar-mechanism model of a container crane and accounts for maneuvers that involve large hoisting operations. A graphical representation of the phase plane of the payload oscillations is used to derive mathematical constraints to compute the switching times of a double-step acceleration profile that results in minimal transient and residual oscillations. In contrast with single-step shaped acceleration profiles which are very sensitive to frequency approximations, the proposed double-step profile is less sensitive to small variations in the frequency even for large trolley accelerations.

Original language	English (US)
Pages (from-to)	1070-1077
Number of pages	8
Journal	IEEE Transactions on Control Systems Technology
Volume	14
Issue number	6
DOIs	https://doi.org/10.1109/TCST.2006.883194
State	Published - Nov 2006

Keywords

Container crane
Crane control
Input-shaping

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/TCST.2006.883194

Cite this

@article{4a4221efba8644d6aa0641c1ac8159f8,

title = "A graphical approach to input-shaping control design for container cranes with hoist",

abstract = "A traditional input-shaping technique is adapted to control transfer maneuvers on quay-side container cranes. The controller is developed using an accurate two-dimensional four-bar-mechanism model of a container crane and accounts for maneuvers that involve large hoisting operations. A graphical representation of the phase plane of the payload oscillations is used to derive mathematical constraints to compute the switching times of a double-step acceleration profile that results in minimal transient and residual oscillations. In contrast with single-step shaped acceleration profiles which are very sensitive to frequency approximations, the proposed double-step profile is less sensitive to small variations in the frequency even for large trolley accelerations.",

keywords = "Container crane, Crane control, Input-shaping",

author = "Masoud, {Ziyad N.} and Daqaq, {Mohammed F.}",

year = "2006",

month = nov,

doi = "10.1109/TCST.2006.883194",

language = "English (US)",

volume = "14",

pages = "1070--1077",

journal = "IEEE Transactions on Control Systems Technology",

issn = "1063-6536",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "6",

}

TY - JOUR

T1 - A graphical approach to input-shaping control design for container cranes with hoist

AU - Masoud, Ziyad N.

AU - Daqaq, Mohammed F.

PY - 2006/11

Y1 - 2006/11

N2 - A traditional input-shaping technique is adapted to control transfer maneuvers on quay-side container cranes. The controller is developed using an accurate two-dimensional four-bar-mechanism model of a container crane and accounts for maneuvers that involve large hoisting operations. A graphical representation of the phase plane of the payload oscillations is used to derive mathematical constraints to compute the switching times of a double-step acceleration profile that results in minimal transient and residual oscillations. In contrast with single-step shaped acceleration profiles which are very sensitive to frequency approximations, the proposed double-step profile is less sensitive to small variations in the frequency even for large trolley accelerations.

AB - A traditional input-shaping technique is adapted to control transfer maneuvers on quay-side container cranes. The controller is developed using an accurate two-dimensional four-bar-mechanism model of a container crane and accounts for maneuvers that involve large hoisting operations. A graphical representation of the phase plane of the payload oscillations is used to derive mathematical constraints to compute the switching times of a double-step acceleration profile that results in minimal transient and residual oscillations. In contrast with single-step shaped acceleration profiles which are very sensitive to frequency approximations, the proposed double-step profile is less sensitive to small variations in the frequency even for large trolley accelerations.

KW - Container crane

KW - Crane control

KW - Input-shaping

UR - http://www.scopus.com/inward/record.url?scp=33750385603&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=33750385603&partnerID=8YFLogxK

U2 - 10.1109/TCST.2006.883194

DO - 10.1109/TCST.2006.883194

M3 - Article

AN - SCOPUS:33750385603

SN - 1063-6536

VL - 14

SP - 1070

EP - 1077

JO - IEEE Transactions on Control Systems Technology

JF - IEEE Transactions on Control Systems Technology

IS - 6

ER -

A graphical approach to input-shaping control design for container cranes with hoist

Abstract

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this