An Input Shaping Control Scheme with Application on Overhead Cranes

A new optimization technique is developed to generate a step-input acceleration function for an input shaping harmonic system. This approach is integrated into an overhead crane model for a rest-to-rest maneuver with standard and nonstandard maneuver settings. The proposed method guarantees the satisfaction of the system constraints and desired final conditions, while it minimizes the system sensitivity to crane cable-length variations. The minimal system sensitivity is achieved through an optimization algorithm that provides zero vibration and a minimum integral of system sensitivity over a continuous range of crane cable length. Numerical simulations are conducted to demonstrate the feasibility of the proposed shaper in eliminating the residual vibration at the end of a programmed maneuver. Sensitivity analyses are also performed to verify the robustness of the new shaper. In comparison to the previous shapers, the new methodology is significantly less sensitive and can effectively handle different arbitrary maneuver times.