Digital filter based motion command preconditioning of time varying suspended loads in boom cranes for sway suppression

Glossiotis, G; Antoniadis, I

dc.contributor.author	Glossiotis, G	en
dc.contributor.author	Antoniadis, I	en
dc.date.accessioned	2014-03-01T01:26:09Z
dc.date.available	2014-03-01T01:26:09Z
dc.date.issued	2007	en
dc.identifier.issn	1077-5463	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/17943
dc.subject	Boom-crane	en
dc.subject	Digital filtering	en
dc.subject	Non-linear dynamics	en
dc.subject	Sway suppression	en
dc.subject	Time-varying system	en
dc.subject.classification	Acoustics	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	Motion control	en
dc.subject.other	Nonlinear systems	en
dc.subject.other	Signal processing	en
dc.subject.other	Time varying systems	en
dc.subject.other	Boom cranes	en
dc.subject.other	Digital filtering	en
dc.subject.other	Preconditioning	en
dc.subject.other	Sway suppression	en
dc.subject.other	Digital filters	en
dc.title	Digital filter based motion command preconditioning of time varying suspended loads in boom cranes for sway suppression	en
heal.type	journalArticle	en
heal.identifier.primary	10.1177/1077546307074247	en
heal.identifier.secondary	http://dx.doi.org/10.1177/1077546307074247	en
heal.language	English	en
heal.publicationDate	2007	en
heal.abstract	Due to the presence of suspended loads, transient and residual sway is present when a motion command is applied to a crane. Various methods for sway suppression have been proposed, based either on closed loop control or command preconditioning procedures. Among command preconditioning methods, conventional FIR filters, when properly designed, have been shown to present in general extremely robust behavior, combined with the introduction of the minimum possible delay. Thus, these filters are proposed for preconditioning the motion commands of boom cranes, the dynamic response of which is strongly non-linear and time varying, characterized by large variations of the sway natural frequencies. Signal processing techniques are exploited for the analysis of the dynamic response of the crane system, and the results of this analysis are applied for the design of the preconditioning procedures. Two alternative methodologies are presented, aiming at sway suppression of the system, and the minimum possible motion duration. It is shown that the use of filtered inputs effectively suppresses payload sway during and after the mechanism motion, while the smooth nature of the resulting response leads to significant decrease in the stress levels induced on the motors and the structure of the crane. © 2007 SAGE Publications.	en
heal.publisher	SAGE PUBLICATIONS LTD	en
heal.journalName	JVC/Journal of Vibration and Control	en
dc.identifier.doi	10.1177/1077546307074247	en
dc.identifier.isi	ISI:000246886700011	en
dc.identifier.volume	13	en
dc.identifier.issue	5	en
dc.identifier.spage	617	en
dc.identifier.epage	656	en