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|Title:||Adaptive input shaping for sway control of 3D crane using a pole-zero cancellation method|
|Citation:||Proceedings of the IEEE Student Conference on Research and Development (SCOReD 2015), 2015 / pp.134-138|
|Publisher Place:||Piscataway, NJ|
|Series/Report no.:||IEEE Student Conference on Research and Development SCOReD|
|Conference Name:||IEEE Student Conference on Research and Development (SCOReD 2015) (13 Dec 2015 - 14 Dec 2015 : Kuala Lumpur, MALAYSIA)|
|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|
|Appears in Collections:||Mechanical Engineering conference papers|
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