Advertisement

Vibration suppression of cart-pendulum system by combining the input-shaping control and the position-input position-output feedback control

Abstract

This study is concerned with the active vibration control of a cart-pendulum system. The input-shaping control alone is not sufficient to suppress vibrations of the cart payload, especially when external disturbance is present. In order to solve this problem, a new control technique consisting of the input-shaping and the position-input position-output feedback controls is proposed. The input-shaping control minimizes vibrations during cart motion and the position-input position-output feedback control takes charge of suppressing residual vibrations after the cart reaches the desired position. The stability of the proposed position-input position-output feedback control was investigated theoretically. The testbed was built to validate the proposed method. It was proved both theoretically and experimentally that the proposed control technique can be successfully used to control vibrations of the pendulum.

This is a preview of subscription content, log in to check access.

Access options

Buy single article

Instant unlimited access to the full article PDF.

US$ 39.95

Price includes VAT for USA

References

  1. [1]

    W. Singhose, Command shaping for flexible systerns: A review of the first 50 years, International Journal of Precision Engineering Manufacturing, 10 (4) (2009) 153–168.

  2. [2]

    L. Ramli et al, Control strategies for crane sy sterns: A com-prehensive review, Mechanical Systems Signal Processing, 95 (2017) 1–23.

  3. [3]

    A. Marttinen et al, Control study with a pilot crane, IEEE Transactions on Education, 33 (3) (1990) 298–305.

  4. [4]

    Y.-S. Kim et al, Anti-sway control of container cranes: Inclinometer, observer, and state feedback, International Journal of Control, Automation, Systems, 2 (4) (2004) 435–449.

  5. [5]

    H. M. Omar and A. H. Nayfeh, Gantry cranes gain scheduling feedback control with friction compensation, Journal of Sound Vibration, 281 (1–2) (2005) 1–20.

  6. [6]

    Q. H. Ngo and K.-S. Hong, Sliding-mode antisway control of an offshore container crane, IEEE/ASME Transactions on Mechatronics, 17 (2) (2012) 201–209.

  7. [7]

    K. Zavari et al, Gain-scheduled controller design: Illustra-tion on an overhead crane, IEEE Transactions on Industrial Electronics, 61 (7) (2014) 3713–3718.

  8. [8]

    J. H. Yang and K. S. Yang, Adaptive coupling control for overhead crane systerns, Mechatronics, 17 (2–3) (2007) 143–152.

  9. [9]

    S. Yasunobu and T. Hasegawa, Evaluation of an automatic container crane operation system based on predictive fuzzy control, Control Theory Advanced Technology, 2 (3) (1986) 419–432.

  10. [10]

    C.-Y. Chang, Adaptive fuzzy controller of the overhead cranes with nonlinear disturbance, IEEE Transactions on Industrial Informaties, 3 (2) (2007) 164–172.

  11. [11]

    M. I. Solihin et al, Fuzzy-tuned PID anti-swing control of automatic gantry crane, Journal of Vibration Control, 16 (1) (2010) 127–145.

  12. [12]

    H. Saeidi et al, A neural network self tuner based on input shapers behavior for anti sway system of gantry cranes, Journal of Vibration Control, 19 (13) (2013) 1936–1949.

  13. [13]

    B. Karihaloo and R. Parbery, Optimal control of a dynamical system representing a gantry crane, Journal of Optimization Theory Applications, 36 (3) (1982) 409–417.

  14. [14]

    G. Manson, Time-optimal control of an overhead crane model, Optimal Control Applications Methods, 3 (2) (1982) 115–120.

  15. [15]

    Y. Sakawa and Y. Shindo, Optimal control of container cranes, Automatica, 18 (3) (1982) 257–266.

  16. [16]

    J. Auernig and H. Troger, Time optimal control of overhead cranes with hoisting of the load, Automatica, 23 (4) (1987) 437–447.

  17. [17]

    O. J. Smith, Posicast control of damped oscillatory systems, Proceedings of the IRE, 45 (9) (1957) 1249–1255.

  18. [18]

    O. J. Smith, Feedback Control Systems, McGraw-Hill, New York, USA (1958).

  19. [19]

    N. C. Singer and W. P. Seering, Preshaping command inputs to reduce system vibration, Journal ofDynamic Systems, Measurement, Ccontrol, 112 (1) (1990) 76–82.

  20. [20]

    N. C. Singer and W. P. Seering, Experimental verification of command shaping methods for controlling residual vibration in flexible robots, 1990 American Control Conference (1990) 1738–1744.

  21. [21]

    W. E. Singhose et al, Input shaped control of a planar gan-try crane with hoisting, Proceedings of the 1997 American Control Conference (1997) 97–100.

  22. [22]

    N. Singer et al, An input shaping controller enabling cranes to move without sway, ANS 7th Topical Meeting on Robotics and Remote Systems (1997) 225–231.

  23. [23]

    J. M. Hyde and W. P. Seering, Using input command preshaping to suppress multiple mode vibration, Proceedings of 1991 IEEE International Conference on Robotics and Automation (1990).

  24. [24]

    B. R. Murphy and I. Watanabe, Digital shaping filters for reducing machine vibration, IEEE Transactions on Robotics Automation, 8 (2) (1992) 285–289.

  25. [25]

    A. Tzes and S. Yurkovich, An adaptive input shaping contrei scheme for vibration suppression in slewing flexible structures, IEEE Transactions on Control Systems Technology, 1 (2) (1993) 114–121.

  26. [26]

    W. Singhose et al, Residual vibration reduction using vector diagrams to generate shaped inputs, Journal of Mechanical Design, 116 (2) (1994) 654–659.

  27. [27]

    W. Singhose et al., Extra-insensitive input shapers for controlling flexible spacecraft, Journal of Guidance, Control, Dynamics, 19 (2) (1996) 385–391.

  28. [28]

    W. E. Singhose et al., Input shaping for vibration reduction with specified insensitivity to modeling errors, Japan-USA Sym. on Flexible Automation, 1 (1996) 307–313.

  29. [29]

    J. Shan et al, Modified input shaping for a rotating singlelink flexible manipulator, Journal of Sound Vibration, 285 (1–2) (2005) 187–207.

  30. [30]

    W. Singhose et al, Command generation for flexible systems by input shaping and command smoothing, Journal of Guidance, Control, Dynamics, 33 (6) (2010) 1697–1707.

  31. [31]

    X. Xie et al., Vibration reduction for flexible systems by command smoothing, Mechanical Systems Signal Processing, 39 (1–2) (2013) 461–470.

  32. [32]

    J. Vaughan et al, Comparison of robust input shapers, Journal of Sound Vibration, 315 (4–5) (2008) 797–815.

  33. [33]

    J. R. Huey et al, Useful applications of closed-loop signal shaping controllers, Control Engineering Practice, 16 (7) (2008) 836–846.

  34. [34]

    K. Zuo et al., Closed loop shaped-input strategies for flexible robots, The International Journal of Robotics Research, 14 (5) (1995) 510–529.

  35. [35]

    V. Kapila et al, Closed-loop input shaping for flexible structures using time-delay control, Journal of Dynamic Systems, Measurement, Control, 122 (3) (2000) 454–460.

  36. [36]

    J. Fanson and T. K. Caughey, Positive position feedback control for large space structures, AIAA Journal, 28 (4) (1990) 717–724.

Download references

Acknowledgments

This work was supported by the research program of Dongguk University, 2019.

Author information

Correspondence to Moon K. Kwak.

Additional information

Recommended by Associate Editor Kyoung-Su Park

Ji-Hwan Shin received B.S. and M.S. degrees in Department of Mechanical Engineering from Dongguk University in 2014 and 2016. He is currently a Ph.D. degree candidate at the Department of Mechanical Engineering of Dongguk University in Seoul, Korea. His research interests are in the area of active vibration control of smart structure.

Dong-Han Lee received B.S. and M.S. degrees in Department of Mechanical Engineering from Dongguk University in 2013 and 2016. He is currently a Ph.D. degree candidate at the Department of Mechanical Engineering of Dongguk University in Seoul, Korea. His research interests are in the area of active control of smart structure.

Moon K. Kwak received B.S. and M.S. degrees in Naval Architecture from Seoul National University in 1981 and 1983. He then received his Ph.D. degree from the Department of Engineering Science and Mechanics of Virginia Tech in 1989. He is currently a Professor at the Department of Mechanical, Robotics and Energy Engineering of Dongguk University in Seoul, Korea. His research interests are dynamics and control of flexible multibody system, and active vibration control of smart structure.

Rights and permissions

Reprints and Permissions

About this article

Verify currency and authenticity via CrossMark

Cite this article

Shin, J., Lee, D. & Kwak, M.K. Vibration suppression of cart-pendulum system by combining the input-shaping control and the position-input position-output feedback control. J Mech Sci Technol 33, 5761–5768 (2019). https://doi.org/10.1007/s12206-019-1120-5

Download citation

Keywords

  • Pendulum vibration
  • Input-shaping
  • Position-input position-output feedback
  • Vibration experiment