Input shaping strategies for intelligent crane control

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Dr. Kiss Bálint
Department of Control Engineering and Information Technology

Cranes are widely used all over the world in thousands of industrial complexes such as shipyards, construction sites and warehouses. The payloads which are moved by these structures are capable of oscillating, which makes the quick and precise positioning harder. The crane operators may have difficulties to reduce these oscillations, most particularly when the structure moving the payload is big.

This thesis work studies the technique of the input shaping for an overhead crane model where the load is constrained to move in a vertical plane. This model tries to simulate all the dynamical features of the original device. The crane has three degrees of freedom, one is the displacement along the horizontal axis, and the second is the length of the rope and the third is the angle of the rope with respect to the vertical. Four input shaping algorithms were implemented and compared to each. The main task of the shapers is to filter the control signal which may generate dead time but significantly reduces the expected swing of the

payload. Validation of the results is demonstrated with two simple experiment where the payload went along two predetermined trajectories so that the angle of the swinging was measured. These experiments were tested with all of the shapers and without the shaper. Results were compared and the algorithms were proven to be efficient. Implementing a nonlinear control is among the plans for the future for a more precise controlling of the horizontal axis.


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