Input Shaped Control of a Gantry Crane with Inertial Payload
Input Shaped Control of a Gantry Crane with Inertial Payload
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DOI：
10.23919/acc53348.2022.9867494
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发表时间：
2022-06
期刊：
影响因子：
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通讯作者：
Adrian Stein;T. Singh
中科院分区：
文献类型：
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作者：
Adrian Stein;T. Singh
这项工作的重点是开发一种用于运输非点质量有效载荷（如管道）的龙门起重机模型，其中除了有效载荷摆动外，还包括扭转运动，如果控制不当，这可能是危险的。导出了欧拉-拉格朗日运动方程，该方程允许计算质心与吊索附件不重合的有效载荷。工作-能量原理被用来确保一个配置的比例导数（PD）控制器是稳定的，一个输入整形器被用来塑造参考轮廓，以允许最小的有效载荷残余振动。
The focus of this work is on the development of a model for a gantry crane transporting a non point-mass payload such as pipes, where besides the payload swinging, includes the twisting motion also, which can be hazardous if not adequately controlled. Euler-Lagrange equations of motion are derived which permit accounting for payloads whose center of mass does not coincide with the hoisting cable attachment. Work-Energy principle is used to ensure that a collocated Proportional-Derivative (PD)-controller is stabilizing and an input shaper is used to shape the reference profile to permit minimal residual vibration of the payload.