Dynamics analysis and residual vibration control of an overhead shuttle system

被引：1
作者：
Piao M. [1 ]
Kim G.-H. [1 ]
Shah U.H. [1 ]
Hong K.-S. [1 ]
机构：
[1] School of Mechanical Engineering, Pusan National University
来源：
Journal of Institute of Control, Robotics and Systems | 2016年 / 22卷 / 06期
关键词：
Crane control; Dynamic model; Input shaping; Vibration control;
D O I：
10.5302/J.ICROS.2016.16.0047
中图分类号：
学科分类号：
摘要：
This paper discusses the dynamics and control problem of an overhead shuttle system (OSS), which is a critical part of the automated container terminal at a port. The main purpose of the OSS is efficient automated transport function of containers, which also requires high precision and safety. A major difference between the OSS and the conventional container crane is the configuration of the cables for hoisting the spreader. A mathematical model of the OSS is developed here for the first time, which results in an eight-pole system. Also, open loop control methods (trapezoidal and notch-type velocity profiles) are investigated so that the command input to the overhead shuttle produces the minimum possible sway of the payload. Simulation results show that the vibration suppression capability of the OSS is superior to the conventional overhead container crane, which is partially due to the cable configuration. © ICROS 2016.
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页码：445 / 452
页数：7
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