한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제30권7호
  • /
  • Pages.717-724
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  • 2013
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  • 1225-9071(pISSN)
  • /
  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
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크레인의 정밀한 정지와 잔류진동 억제를 위한 개선된 입력 성형기법

An Improved Input Shaping Method for Precise Stopping and Residual Vibration Reduction of Cranes

  • 배규현 (금오공과대학교 기전공학과 대학원) ;
  • 홍성욱 (금오공과대학교 기전공학과)
  • Bae, Gyu-Hyun (Graduate School, Department of Mechatronics, Kumoh National institute of Technology) ;
  • Hong, Seong-Wook (Department of Mechatronics, Kumoh National institute of Technology)
  • 투고 : 2013.01.23
  • 심사 : 2013.03.19
  • 발행 : 2013.07.01
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초록

Industrial cranes are indispensable equipment in heavy industry. However, unwanted vibrations in cranes often cause accidents. Input shaping is widely accepted as a useful tool for removing residual vibration in cranes. A unity magnitude zero vibration (UMZV) input shaper is often used for cranes driven by on-off-type motors. However, although a UMZV input shaper minimizes residual vibration, the input shaper cannot prevent the crane from moving slightly further than expected from the original command. This paper describes an improved method of input shaping that can compensate for position inaccuracies, as well as remove the residual vibration of cranes. Experiments were performed to validate the proposed input-shaping method, illustrated through numerical simulations.

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참고문헌

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