DESIGN OF A CONTROLLER ENABLING PRECISE POSITIONING AND SWAY REDUCTION IN CRANES WITH ON/OFF ACTUATION

Titiloye Stephen Oyediran&TitiloyeYetundeAdebimpe

Department of Electrical Engineering

 Federal Polytechnic, Bida.

Abstract

Precise manipulation of payloads is difficult with large cranes. Oscillation can be induced into the lightly damped system by motion of the overhead support point, or from environmental disturbances. A combined feedback and input shaping controller is presented here.  The controller uses feedback to detect and compensate for positioning error in the overhead support unit (e.g. the bridge or trolley), and input shaping is used to negate motion-induced oscillation in the payload. The controller is implemented on a 10-ton bridge crane at the Georgia Institute of Technology. The controller generates simple on-off commands, suitable for typical cranes that employ on-off, relay-driven motors. The controller achieves good positioning accuracy, and significant payload sway reduction.

Keywords: Input Shaping, Command Shaping, Crane Control, Automation, Oscillation Control, Anti-Sway