An improved input shaping design for an efficient sway control of a nonlinear 3d overhead crane with friction

Abstract

This paper proposes an improved input shaping schem e for an efficient sway control of a nonlinear thre e dimensional (3D) overhead crane with friction using the particle swarm optimi zation (PSO) algorithm. Using this approach, a high er payload sway reduction is obtained as the input shaper is designed based on a complete nonlinear model, as compared to the analy tical-based input shaping scheme derived using a linear second order model. Z ero Vibration (ZV) and Distributed Zero Vibration ( DZV) shapers are designed using both analytical and PSO approaches for sway c ontrol of rail and trolley movements. To test the e ffectiveness of the proposed approach, MATLAB simulations and experiments on a l aboratory 3D overhead crane are performed under var ious conditions involving different cable lengths and sway frequencies. Their performances are studied based on a maximum residu al of payload sway and Integrated Absolute Error (IAE) values which indica te total payload sway of the crane. With experiment s, the superiority of the proposed approach over the analytical-based is show n by 30-50% reductions of the IAE values for rail a nd trolley movements, for both ZV and DZV shapers. In addition, simulations result s show higher sway reductions with the proposed app roach. It is revealed that the proposed PSO-based input shaping design provides hi gher payload sway reductions of a 3D overhead crane with friction as compared to the commonly designed input shapers.