Large amplitude oscillation of crane payloads is detrimental to safe and efficient operation. Under certain conditions, the problem is compounded when the payload creates a double-pendulum effect. Most crane control research to date has focused on single-pendulum dynamics. Several researchers have shown that single-mode oscillations can be greatly reduced by properly shaping the inputs to the crane motors. This paper builds on those previous developments to create a method for suppressing double-pendulum payload oscillations. The input shaping controller is designed to have robustness to changes in the two operating frequencies. Experiments performed on a portable bridge crane are used to verify the effectiveness of this method and the robustness of the input shaper.
Skip Nav Destination
e-mail: singhose@gatech.edu
e-mail: kenison@sugar-land.oilfield.slb.com
Article navigation
Technical Briefs
Input Shaping Control of Double-Pendulum Bridge Crane Oscillations
William Singhose,
William Singhose
Woodruff School of Mechanical Engineering,
e-mail: singhose@gatech.edu
Georgia Institute of Technology
, Atlanta, GA 30332
Search for other works by this author on:
Dooroo Kim,
Dooroo Kim
Woodruff School of Mechanical Engineering,
Georgia Institute of Technology
, Atlanta, GA 30332
Search for other works by this author on:
Michael Kenison
e-mail: kenison@sugar-land.oilfield.slb.com
Michael Kenison
Schlumberger Technology Corporation
, Sugar Land, TX 77478
Search for other works by this author on:
William Singhose
Woodruff School of Mechanical Engineering,
Georgia Institute of Technology
, Atlanta, GA 30332e-mail: singhose@gatech.edu
Dooroo Kim
Woodruff School of Mechanical Engineering,
Georgia Institute of Technology
, Atlanta, GA 30332
Michael Kenison
Schlumberger Technology Corporation
, Sugar Land, TX 77478e-mail: kenison@sugar-land.oilfield.slb.com
J. Dyn. Sys., Meas., Control. May 2008, 130(3): 034504 (7 pages)
Published Online: May 1, 2008
Article history
Received:
August 16, 2006
Revised:
August 14, 2007
Published:
May 1, 2008
Citation
Singhose, W., Kim, D., and Kenison, M. (May 1, 2008). "Input Shaping Control of Double-Pendulum Bridge Crane Oscillations." ASME. J. Dyn. Sys., Meas., Control. May 2008; 130(3): 034504. https://doi.org/10.1115/1.2907363
Download citation file:
Get Email Alerts
Data-Driven Tracking Control of a Cushion Robot With Safe Autonomous Motion Considering Human-Machine Interaction Environment
J. Dyn. Sys., Meas., Control (July 2025)
Dynamic Obstacle Avoidance Strategy for High-Speed Vehicles Via Constrained Model Predictive Control and Improved Artificial Potential Field
J. Dyn. Sys., Meas., Control (July 2025)
An Adaptive Sliding-Mode Observer-Based Fuzzy PI Control Method for Temperature Control of Laser Soldering Process
J. Dyn. Sys., Meas., Control
Related Articles
Dynamics and Control of Bridge Cranes Transporting Distributed-Mass Payloads
J. Dyn. Sys., Meas., Control (January,2010)
Synthesis and Experimental Validation of a Delayed Reference Controller for Active Vibration Suppression in Mechanical Systems
J. Appl. Mech (July,2005)
Oscillation Control of Quay-Side Container Cranes Using Cable-Length Manipulation
J. Dyn. Sys., Meas., Control (March,2007)
Vibration Analysis and Mitigation of Dead-Zone on Systems Using Two-Impulse Zero-Vibration Input Shaping
J. Comput. Nonlinear Dynam (January,2011)
Related Proceedings Papers
Related Chapters
Dynamic Simulations to Become Expert in Order to Set Fuzzy Rules in Real Systems
International Conference on Advanced Computer Theory and Engineering, 4th (ICACTE 2011)
Design and Simulation on State Observer for Crane-Load System
International Conference on Mechanical and Electrical Technology, 3rd, (ICMET-China 2011), Volumes 1–3
A Model and Algorithm for the Yard Crane Scheduling Problem under Stochastic Environment
International Conference on Mechanical and Electrical Technology, 3rd, (ICMET-China 2011), Volumes 1–3