An Adaptive Input Shaping Scheme For Vibration-free Positioning Of A Gantry Crane System

Azdiana , Md Yusop and Noor Asyikin, Sulaiman and Roseliza, Yatim and Siti Halma, Johari (2011) An Adaptive Input Shaping Scheme For Vibration-free Positioning Of A Gantry Crane System. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

This project attempts to specify an adaptive algorithm for the tuning of two input shaping methods designed to prevent the excitation of oscillatory modes in resonant systems. The first method produces a control signal that is the linear combination of delayed versions of the reference input. The transfer function of the control system has an infinite number of complex zeros, with some of them placed exactly at the locations of the resonant modes of the plant. In contrast, the second method is based on a pole/zero cancellation of the resonant modes using a finite-dimensional controller. An adaptive algorithm is used for the tuning of both methods. Experimental results are then being presented for a system in which a motor is used to control the position and sway angle of a gantry crane system. Next, the performance comparison of the theoretical and experimental investigations is performed in order to distinguish the advantage and disadvantage of this proposed technique.

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