Improved three-step input shaping control of crane system

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dc.contributor.authorGürleyük, Sırrı Sunay
dc.contributor.authorBahadır, Özgür
dc.contributor.authorTürkkan, Yunus
dc.contributor.authorÜşenti, Hakan
dc.date.accessioned2020-04-30T13:32:35Z
dc.date.available2020-04-30T13:32:35Z
dc.date.issued2008
dc.departmentDÜ, Düzce Meslek Yüksekokulu, Elektrik ve Enerji Bölümüen_US
dc.description.abstractShaping command input is performed for reducing residual vibrations in motion control of dynamical structures. System inputs are changed so that the structure reaches to planned motion in minimum duration without residual oscillation. Shaping input is obtained by convolving desired input with an impulse sequence. Main goal of the input shaper design is to define impulse amplitudes and their instants from the dynamical behavior of uncontrolled response. Zero Vibration (ZV), Zero Vibration and Derivative (ZVD) and Extra Insensitive (EI) are the most common shaper types. Improving the robustness respect to modeling errors requires more impulses. These increase control duration and make difficult to solve constraint equations directly. Required parameters can be determined from the derivation of constraint equations. This paper presents Three-Step (TS) input shaping technique. A solution space for three-impulse shaping is given including both positive and negative shapers. It is shown here that ZVD and EI shapers are the special solution points in TS shaping space. The duration of the shaper less or more than ZVD's can be obtained in the defined space. Some of the new shapers give better robustness than ZVD. Experimental results from a prototype planar crane system are used to support the numerical results.en_US
dc.identifier.endpage661en_US
dc.identifier.issn1109-2777
dc.identifier.issue6en_US
dc.identifier.scopusqualityQ4en_US
dc.identifier.startpage652en_US
dc.identifier.urihttps://hdl.handle.net/20.500.12684/358
dc.identifier.volume7en_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.relation.ispartofWSEAS Transactions on Systemsen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectCommand generation; Input shaping; Planar crane; Robustness; Three-step shaper; Vibrationen_US
dc.titleImproved three-step input shaping control of crane systemen_US
dc.typeArticleen_US

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