Payload sway suppression in rotary cranes by digital filtering of the commanded inputs

Glossiotis, G; Antoniadis, I

dc.contributor.author	Glossiotis, G	en
dc.contributor.author	Antoniadis, I	en
dc.date.accessioned	2014-03-01T01:19:25Z
dc.date.available	2014-03-01T01:19:25Z
dc.date.issued	2003	en
dc.identifier.issn	1464-4193	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/15475
dc.subject	Digital filtering	en
dc.subject	Non-linear dynamic system	en
dc.subject	Rotary crane	en
dc.subject	Sway suppression	en
dc.subject.classification	Engineering, Mechanical	en
dc.subject.classification	Mechanics	en
dc.subject.other	Closed loop control systems	en
dc.subject.other	Cranes	en
dc.subject.other	Degrees of freedom (mechanics)	en
dc.subject.other	FIR filters	en
dc.subject.other	Hoists	en
dc.subject.other	Mathematical models	en
dc.subject.other	Motion control	en
dc.subject.other	Nonlinear control systems	en
dc.subject.other	Time varying control systems	en
dc.subject.other	Payload sway suppression	en
dc.subject.other	Rotary cranes	en
dc.subject.other	Slewing motions	en
dc.subject.other	Vibrations (mechanical)	en
dc.title	Payload sway suppression in rotary cranes by digital filtering of the commanded inputs	en
heal.type	journalArticle	en
heal.identifier.primary	10.1243/146441903321898593	en
heal.identifier.secondary	http://dx.doi.org/10.1243/146441903321898593	en
heal.language	English	en
heal.publicationDate	2003	en
heal.abstract	A method is proposed for the suppression of the sway of rotary crane payloads. In contrast to closed-loop control methods which encounter significant practical application problems, the proposed method is based simply on the preprocessing of all the commanded crane inputs by a properly designed finite impulse response (FIR) filter. A four-degrees-of-freedom (413017) model for the rotary crane system is considered, incorporating both the hoisting and the slewing motions and thus able to handle cases where hoisting can be simultaneously applied to the rotary motion. Although the resulting dynamic system is strongly non-linear and time varying, the method is shown effectively to suppress, in a quite robust, time and energy efficient way, both the transient as well as the residual sway of the payload. Moreover, additional advantages of the proposed method are that no dynamic modelling of the crane is required, and that the applicability of the method is quite easy and general, without the need for any additional instrumentation and control equipment.	en
heal.publisher	PROFESSIONAL ENGINEERING PUBLISHING LTD	en
heal.journalName	Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics	en
dc.identifier.doi	10.1243/146441903321898593	en
dc.identifier.isi	ISI:000183805500002	en
dc.identifier.volume	217	en
dc.identifier.issue	2	en
dc.identifier.spage	99	en
dc.identifier.epage	109	en