Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Input Shaper Design for Tower Crane in Consideration of Nonlinear Coupled Motions

타워크레인의 비선형 연성 운동 특성을 고려한 입력성형기 설계

  • Kim, Byung-Gyu (Department of Mechatronics, Graduate School, Kumoh National Institute of Technology) ;
  • Hong, Seong-Wook (School of Mechanical Engineering, Kumoh National Institute of Technology)
  • 김병규 (금오공과대학교 대학원 기전공학과) ;
  • 홍성욱 (금오공과대학교 기계공학부)
  • Published : 2009.09.01
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Abstract

Input shaping has been a very effective control method for reducing payload swing in industrial bridge and gantry cranes. However, conventional input shapers often degrade performance when applied to tower cranes because of the nonlinear coupled dynamics between rotational and radial motions in tower cranes. To alleviate this problem, a new input shaper for tower cranes is developed by means of dynamic modeling, analysis and optimization. This work investigates the tower crane dynamics along with parameters of the tower crane varied. A performance index for input shaper design is proposed so as to reduce the coupled residual vibration of a tower crane using only rotational motion of tower crane. The proposed new input shaper is verified to be effective through simulations and experiments.

Keywords

References

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