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1、ARTICLEINPRESSK.L.Sorensenetal./ControlEngineeringPractice15(2007)825–837837AcontrollerenablingprecisepositioningandswayreductioninbridgeandgantrycranesKhalidL.Sorensen,WilliamSinghose,StephenDickersonTheGeorgeW.WoodruffSchoolofMechanicalEngineering,GeorgiaInstituteofTechnology,813FerstDr.,M
2、ARC257,Atlanta,GA30332-0405,USAReceived28September2005;accepted30March2006Availableonline5June2006AbstractPrecisemanipulationofpayloadsisdifficultwithcranes.Oscillationcanbeinducedintothelightlydampedsystembymotionofthebridgeortrolley,orfromenvironmentaldisturbances.Toaddressbothsourcesofosc
3、illation,acombinedfeedbackandinputshapingcontrollerisdeveloped.Thecontrolleriscomprisedofthreedistinctmodules.Afeedbackmoduledetectsandcompensatesforpositioningerror;asecondfeedbackmoduledetectsandrejectsdisturbances;inputshapingisusedinathirdmoduletomitigatemotioninducedoscillation.Anaccura
4、temodelofvectordriveandACinductionmotors,typicaltolargecranes,wasusedjointlywithadeconvolutionanalysistechniquetoincorporatethenonlineardynamicsofcraneactuatorsintothecontroldesign.Thecontrollerisimplementedona10-tonbridgecraneattheGeorgiaInstituteofTechnology.Thecontrollerachievesgoodpositi
5、oningaccuracyandsignificantswayreduction.r2006ElsevierLtd.Allrightsreserved.Keywords:Inputshaping;Commandshaping;Cranecontrol;Oscillationcontrol;Anti-sway;Bridgecrane;GantrycraneARTICLEINPRESSK.L.Sorensenetal./ControlEngineeringPractice15(2007)825–8378371.IntroductionBridgeandgantrycranesocc
6、upyacrucialrolewithinindustry.Theyareusedthroughouttheworldinthousandsofshippingyards,constructionsites,steelmills,warehouses,nuclearpowerandwastestoragefacilities,andotherindustrialcomplexes.Thetimelinessandeffectivenessofthismanipulationsystemareimportantcontributorstoindustrialproductivit
7、y.Forthisreason,improvingtheoperationaleffectivenessofcranescanbeextremelyvaluable.Thesestructures,liketheoneshowninFig.1,arehighlyflexibleinnature.Externaldisturbances,suchaswindormotionoftheoverheadsupportunit(e.g.thebridgeortrolley),cancausethep
