The development of positive input shaping for anti-sway control of a gantry crane system
The aim of this project is to develop positive input shaping method to reduce sway in a gantry crane system. Gantry crane was used for lifting, lowering load vertically and moving it horizontally. The problem occurs when lifting, lowering and moving the load which causes the crane to sway. The appli...
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| Format: | Undergraduates Project Papers |
| Language: | English |
| Published: |
2009
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| Online Access: | http://umpir.ump.edu.my/id/eprint/33151/1/The%20development%20of%20positive%20input%20shaping.pdf |
| Summary: | The aim of this project is to develop positive input shaping method to reduce sway in a gantry crane system. Gantry crane was used for lifting, lowering load vertically and moving it horizontally. The problem occurs when lifting, lowering and moving the load which causes the crane to sway. The application of positive input shaping involves a technique that can reduce the sway by creating a command signal that cancels its own vibration. The idea of input shaping is implemented by convolving a series of impulse with a reference command. If the impulse sequence causes no vibration, then the convolution product will also cause no vibration. The convolution product is then used as the command to the specified systems. The outcome of this project should result with a technique which can improve the gantry crane system to be an anti-sway gantry crane. |
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