The novel design of the command smoother for sway suppression of industrial overhead crane considering acceleration and deceleration limits
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Issued Date
2023-01-01
Resource Type
ISSN
2195268X
eISSN
21952698
Scopus ID
2-s2.0-85150065666
Journal Title
International Journal of Dynamics and Control
Rights Holder(s)
SCOPUS
Bibliographic Citation
International Journal of Dynamics and Control (2023)
Suggested Citation
Suksabai N., Chuckpaiwong I. The novel design of the command smoother for sway suppression of industrial overhead crane considering acceleration and deceleration limits. International Journal of Dynamics and Control (2023). doi:10.1007/s40435-023-01156-y Retrieved from: https://repository.li.mahidol.ac.th/handle/123456789/81854
Title
The novel design of the command smoother for sway suppression of industrial overhead crane considering acceleration and deceleration limits
Author(s)
Author's Affiliation
Other Contributor(s)
Abstract
This paper proposes a novel command smoother for sway suppression of industrial overhead crane. A transfer function is used as the smoother form with capability for zero-pole cancelation and pole placement feedforward control. The two significant parameters, chain length and rate limits (acceleration and deceleration limits), are used for the smoother design. The zeros of the smoother are explicitly designed the same way as those of a simple pendulum of an overhead crane, while the poles of the smoother are obtained by optimization using particle swamp optimization in order to suppress its sway and improve its transient response. The proposed smoother is compared with existing input shaping techniques, UMZV and ZV, for their residual vibration of the payload and transient response of the overhead unit. To verify the benefits of the proposed smoother, an experiment on an industrial-grade overhead crane was performed under various conditions including changing chain length and acceleration and deceleration limits. The results indicate that the proposed smoother provides fast transient responses, especially reducing braking distance, as compared to UMZV and ZV input shaping techniques. Besides, the proposed smoother also provides higher robustness and smoothness. The robustness of the smoother provided consistent transient responses on the varying acceleration and deceleration limits. The smoothness means that the abrupt changes on the velocity profile input of the crane are minimal, which is more comfortable for a crane operator. The residual vibrations from all techniques are insignificantly different in practice.