Simplified input-output inversion control of a double pendulum overhead crane for residual oscillations reduction
Embargo Lift Date
MetadataShow full item record
© 2018 Elsevier Ltd In this paper we present the application of an input-output inversion technique for the open-loop control of an overhead crane modelled as a double pendulum. The method is mathematically derived, obtaining a parametric trajectory that ensures reduced residual oscillations. Then, it is shown that the postactuation can be neglected so that the method can be implemented with standard industrial drives. The robustness of the method is evaluated by means of simulations, and the performance of the method is experimentally compared with the well-known input shaping technique. The advantages of using a double pendulum model instead of a simple pendulum one are also shown.
Showing items related by title, author, creator and subject.
Zhang, Xihong; Hao, Hong; Wang, Z. (2015)Laminated glass panes are widely adopted as blast-resistant glass windows to mitigate the hazard from ejecting fractured glass fragments. The response of laminated glass windows under blast loads is often predicted by ...
Zhu, D.; Zhou, D.; Zhou, Jingyang; Teo, Kok Lay (2012)A synchronization control strategy for a class of underactuated mechanical systems is proposed by using the energy shaping technique, aiming to achieve the required performance of the synchronization motion. A synchronization ...
Aitken, Ashley; Ilango, Vishnu (2013)Over the last decade (or two) the pendulum of developer mindshare has swung decidedly towards agile software development from a more traditional engineering approach to software development. To ascertain the essential ...