Traditionally, multimode input shaping controllers are tuned to systems' frequencies. This work suggests an alternative approach. A frequency-modulation (FM) input shaping technique is developed to tune the resonant frequencies of a system to a set of frequencies that can be eliminated by a single-mode primary input shaper. Most of the current input shaping techniques can be used as primary input shapers for the FM input shaping technique. Virtual feedback is used to modulate the closed-loop frequencies of a simulated double-pendulum model of an overhead crane to the point where the closed-loop second mode frequency becomes an odd-multiple of the closed-loop first mode frequency, which is the necessary condition for a satisfactory performance of most single-mode input shapers. The primary input shaper is based on the first mode frequency of the closed-loop system model. The input commands to the plant of the virtual feedback system are then used to drive the physical double-pendulum. Simulations results, using primary zero-vibration (ZV) and zero-vibration-derivative (ZVD) input shapers, are presented. The performance is validated experimentally on a scaled model of a double-pendulum overhead crane.
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German Jordanian University,
e-mail: zmasoud@vt.edu
Kuwait University,
e-mail: kalhazza@vt.edu
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March 2014
Research-Article
Frequency-Modulation Input Shaping Control of Double-Pendulum Overhead Cranes
Ziyad N. Masoud,
German Jordanian University,
e-mail: zmasoud@vt.edu
Ziyad N. Masoud
1
Department of Mechatronics Engineering
,German Jordanian University,
Amman 11180
, Jordan
e-mail: zmasoud@vt.edu
1Corresponding author.
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Khaled A. Alhazza
Kuwait University,
e-mail: kalhazza@vt.edu
Khaled A. Alhazza
Department of Mechanical Engineering
,Kuwait University,
Kuwait City 13060
, Kuwait
e-mail: kalhazza@vt.edu
Search for other works by this author on:
Ziyad N. Masoud
Department of Mechatronics Engineering
,German Jordanian University,
Amman 11180
, Jordan
e-mail: zmasoud@vt.edu
Khaled A. Alhazza
Department of Mechanical Engineering
,Kuwait University,
Kuwait City 13060
, Kuwait
e-mail: kalhazza@vt.edu
1Corresponding author.
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received September 26, 2011; final manuscript received October 7, 2013; published online December 2, 2013. Assoc. Editor: Eugenio Schuster.
J. Dyn. Sys., Meas., Control. Mar 2014, 136(2): 021005 (11 pages)
Published Online: December 2, 2013
Article history
Received:
September 26, 2011
Revision Received:
October 7, 2013
Citation
Masoud, Z. N., and Alhazza, K. A. (December 2, 2013). "Frequency-Modulation Input Shaping Control of Double-Pendulum Overhead Cranes." ASME. J. Dyn. Sys., Meas., Control. March 2014; 136(2): 021005. https://doi.org/10.1115/1.4025796
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