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The novel design of the command smoother for sway suppression of industrial overhead crane considering acceleration and deceleration limits

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Abstract

This paper proposes a novel command smoother for sway suppression of industrial overhead crane. A transfer function is used as the smoother form with capability for zero-pole cancelation and pole placement feedforward control. The two significant parameters, chain length and rate limits (acceleration and deceleration limits), are used for the smoother design. The zeros of the smoother are explicitly designed the same way as those of a simple pendulum of an overhead crane, while the poles of the smoother are obtained by optimization using particle swamp optimization in order to suppress its sway and improve its transient response. The proposed smoother is compared with existing input shaping techniques, UMZV and ZV, for their residual vibration of the payload and transient response of the overhead unit. To verify the benefits of the proposed smoother, an experiment on an industrial-grade overhead crane was performed under various conditions including changing chain length and acceleration and deceleration limits. The results indicate that the proposed smoother provides fast transient responses, especially reducing braking distance, as compared to UMZV and ZV input shaping techniques. Besides, the proposed smoother also provides higher robustness and smoothness. The robustness of the smoother provided consistent transient responses on the varying acceleration and deceleration limits. The smoothness means that the abrupt changes on the velocity profile input of the crane are minimal, which is more comfortable for a crane operator. The residual vibrations from all techniques are insignificantly different in practice.

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Data availability

The datasets generated during and/or analyzed during the current study are available from the corresponding author on reasonable request.

Code availability

The codes are not publicly available due to the agreement with the funding source. The codes are however available from the authors upon reasonable request and with permission of Siam Kito Co. Ltd.

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Funding

The research presented in this manuscript was partly supported by funding from Siam Kito Co. Ltd. The authors would like to thank Siam Kito Co. Ltd. for their support and assistance during the course of this work. The findings and conclusions presented in this manuscript are those of the authors and do not necessarily reflect the views of Siam Kito Co. Ltd.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Faculty of Engineering, Mahidol University, 999 Phutthamonthon 4 Rd., Salaya, Nakhon Pathom, 73170, Thailand

    Nattapong Suksabai & Ittichote Chuckpaiwong

Authors
  1. Nattapong Suksabai
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  2. Ittichote Chuckpaiwong
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Contributions

The authors confirm contribution to the paper as follows: NS studied the sway suppression concept, designed the cost function, synthesized the smoother parameters, ran the experiments and collected data. NS and IC analyzed and interpreted the results and prepared the manuscript. All authors reviewed the results and approved the final version of the manuscript.

Corresponding author

Correspondence to Ittichote Chuckpaiwong.

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The authors declare that there is no conflict of interest.

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Suksabai, N., Chuckpaiwong, I. The novel design of the command smoother for sway suppression of industrial overhead crane considering acceleration and deceleration limits. Int. J. Dynam. Control 11, 2082–2100 (2023). https://doi.org/10.1007/s40435-023-01156-y

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  • DOI: https://doi.org/10.1007/s40435-023-01156-y

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