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| OPTIMAL INPUT-SHAPING SUPPRESSES PAYLOAD OSCILLATION OF BRIDGE CRANES WITH VARYING PARAMETERS |
| DONG Ming-xiao1;TUO Jian-zhi1;REN Yi-xiang2;XU Shu-juan1 |
| 1. School of Mechanical and Electronical Engineering, Shandong Jianzhu University, Jinan 250014, China; 2. Jinan Boiler Group Co. Ltd, Jinan 250023, China |
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Abstract Payload oscillation of bridge cranes that is aroused by accelerating or decelerating motion reduces working efficiency, safety and stability. Based on the distribution rule of bridge cranes’ dynamical parameters, the amplitude of payload oscillation in the varying range of the parameters is taken as an objective function. To suppress the payload oscillation of bridge cranes with varying parameters, an optimal input shaper is presented based on the ideas of minimizing the magnitude of the payload oscillation and optimizing the delay that induced by input shaping. Simulation shows that the payload oscillation of bridge cranes is suppressed to 0.01rad under the control of the optimization input shaper. Comparing with classical ZVD input shaping, the system response speeds by 0.6774s.
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Received: 13 October 2008
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2009, Vol. 28 
