Vibration analysis and combination control of a multi-body hoisting system under compound motion

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Journal of Vibration and Shock ›› 2023, Vol. 42 ›› Issue (4) : 156-162.

YAN Shijun，PENG Yuhe，PENG Jian，REN Zhongjun

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Abstract

A dynamic model is established of multi-body systems for hoisting under compound motion, and a control system combining input shaping and feedback control method is proposed for the system. The boom’s vibration and payload’s swing are described by using the spring-mass-damping system and suspension system respectively in the model. Based on Lagrange’s equation, a five-DOF space motion equation of the hoisting system is derived and given by using the recursive method. The combined input shaping method and the proportional-derivative feedback algorithm are used to suppress the payload’s swing and the boom’s elastic vibration simultaneously, according to the coupling vibration characteristics of the system. Results of vibration analysis show that the model can effectively analyze the dynamic characteristics of the multi-body system under the combining slewing and luffing motion excitation. Compared with the traditional input shaping control method, the vibration suppression effect of the designed controller is greatly improved.

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multi-body system for hoisting / compound motion / dynamic response / combined control method

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YAN Shijun，PENG Yuhe，PENG Jian，REN Zhongjun. Vibration analysis and combination control of a multi-body hoisting system under compound motion[J]. Journal of Vibration and Shock, 2023, 42(4): 156-162

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