Application of input shaping in antiswaying control of rotary crane

JIANG Xiaojie, MEI Zhiqian, LI Xiangguo, SUN Lei

(College of Mechanical & Electrical Engineering, Hohai University, Changzhou 213002, China)

Abstract: Aiming at the problems of payload swings induced by inertia force, centrifugal force and external disturbance during the work of rotary crane, which can limit the usefulness of cranes and bring safety problems, the input shaping technique was applied. After the analysis of rotary crane, the mathematical model and the kinetic equation were established. Then, the working principle of input shaping technique was elaborated. At last, a semiphysical simulation platform was built with Matlab/RTW. Based on rotary crane prototype, the zero vibration(ZV) input shaper was designed and applied in suppressing the residual vibration of the cargo. Comparing the angle of the boom and crane, it is found that ZV shaper can effectively reduce the residual vibration of cargo to about 10%. The results indicate that input shaping technique is effective in cargo pendulation reduction of rotary crane, which can be easily applied, and it has certain engineering value.

Key words: rotary crane; input shaping; antiswaying; Matlab; zero vibration(ZV)