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Type: Conference paper
Title: Adaptive input shaping for sway control of 3D crane using a pole-zero cancellation method
Author: Abdullahi, A.
Mohamed, Z.
Abidin, M.
Akmeliawati, R.
Husain, A.
Bature, A.
Alhassan, A.
Citation: Proceedings of the IEEE Student Conference on Research and Development (SCOReD 2015), 2015 / pp.134-138
Publisher: IEEE
Publisher Place: Piscataway, NJ
Issue Date: 2015
Series/Report no.: IEEE Student Conference on Research and Development SCOReD
ISBN: 1467395722
ISSN: 2643-2439
Conference Name: IEEE Student Conference on Research and Development (SCOReD 2015) (13 Dec 2015 - 14 Dec 2015 : Kuala Lumpur, MALAYSIA)
Statement of
Auwalu M. Abdullahi, Z. Mohamed, M.S. Zainal Abidin, R. Akmeliawati, A.R. Husain, Amir A. Bature, Ahmad Alhassan
Abstract: This paper presents an adaptive input shaping based on pole-zero cancellation (APZC) technique to suppress load sway of a crane system. In this method, a reference system is selected and the proposed adaptive shaper is made to force the actual system to adapt to the changes in natural frequency and damping ratio as the cable length increases or decreases. Simulation results are compared with a zero vibration derivative input shaper designed based on average travel length (ATL) to investigate the performance of the proposed shaper. Simulation using three cable length of 0.7 m, 0.5 m and 0.3 m shows that APZC gives better payload sway reduction with smallest maximum sway.
Keywords: Adaptive shaper; crane system; load sway control; pole/zero cancellation
Rights: ©2015 IEEE
RMID: 0030085483
DOI: 10.1109/SCORED.2015.7449310
Published version:
Appears in Collections:Mechanical Engineering conference papers

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