Simplified input-output inversion control of a double pendulum overhead crane for residual oscillations reduction
© 2018 Elsevier Ltd In this paper we present the application of an input-output inversion technique for the open-loop control of an overhead crane modelled as a double pendulum. The method is mathematically derived, obtaining a parametric trajectory that ensures reduced residual oscillations. Then,...
| Main Authors: | , , , |
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| Format: | Journal Article |
| Published: |
Permagon
2018
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| Online Access: | http://hdl.handle.net/20.500.11937/72697 |
| _version_ | 1848762819281944576 |
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| author | Giacomelli, M. Padula, Fabrizio Simoni, L. Visioli, A. |
| author_facet | Giacomelli, M. Padula, Fabrizio Simoni, L. Visioli, A. |
| author_sort | Giacomelli, M. |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | © 2018 Elsevier Ltd In this paper we present the application of an input-output inversion technique for the open-loop control of an overhead crane modelled as a double pendulum. The method is mathematically derived, obtaining a parametric trajectory that ensures reduced residual oscillations. Then, it is shown that the postactuation can be neglected so that the method can be implemented with standard industrial drives. The robustness of the method is evaluated by means of simulations, and the performance of the method is experimentally compared with the well-known input shaping technique. The advantages of using a double pendulum model instead of a simple pendulum one are also shown. |
| first_indexed | 2025-11-14T10:53:37Z |
| format | Journal Article |
| id | curtin-20.500.11937-72697 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T10:53:37Z |
| publishDate | 2018 |
| publisher | Permagon |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-726972021-01-05T08:07:08Z Simplified input-output inversion control of a double pendulum overhead crane for residual oscillations reduction Giacomelli, M. Padula, Fabrizio Simoni, L. Visioli, A. © 2018 Elsevier Ltd In this paper we present the application of an input-output inversion technique for the open-loop control of an overhead crane modelled as a double pendulum. The method is mathematically derived, obtaining a parametric trajectory that ensures reduced residual oscillations. Then, it is shown that the postactuation can be neglected so that the method can be implemented with standard industrial drives. The robustness of the method is evaluated by means of simulations, and the performance of the method is experimentally compared with the well-known input shaping technique. The advantages of using a double pendulum model instead of a simple pendulum one are also shown. 2018 Journal Article http://hdl.handle.net/20.500.11937/72697 10.1016/j.mechatronics.2018.10.002 http://creativecommons.org/licenses/by/4.0/ Permagon fulltext |
| spellingShingle | Giacomelli, M. Padula, Fabrizio Simoni, L. Visioli, A. Simplified input-output inversion control of a double pendulum overhead crane for residual oscillations reduction |
| title | Simplified input-output inversion control of a double pendulum overhead crane for residual oscillations reduction |
| title_full | Simplified input-output inversion control of a double pendulum overhead crane for residual oscillations reduction |
| title_fullStr | Simplified input-output inversion control of a double pendulum overhead crane for residual oscillations reduction |
| title_full_unstemmed | Simplified input-output inversion control of a double pendulum overhead crane for residual oscillations reduction |
| title_short | Simplified input-output inversion control of a double pendulum overhead crane for residual oscillations reduction |
| title_sort | simplified input-output inversion control of a double pendulum overhead crane for residual oscillations reduction |
| url | http://hdl.handle.net/20.500.11937/72697 |