Vibration Suppression Control for Overhead Crane using Inverse Notch Filter

Abstract

Overhead cranes play an important role in many fields such as industry, transportation, etc. However, payload vibration is a common issue that can occur with overhead cranes. To overcome this problem, various control approaches have been applied including feedforward and feedback control approaches. One practical approach is feedforward control where the controller works as a filter to eliminate the vibration.  The feedforward controller can exist in three structures including the filter is outside the trolley position control loop, in the feedforward path of the trolley position control loop, and in the feedback path of the trolley position control loop. In this paper, the inverse Notch filter in the feedback path of the trolley position control loop is considered as a vibration suppression controller for the overhead crane. This proposed controller can suppress vibration caused by both reference trolley position input and disturbance in the feedback loop. The effectiveness of the proposed controller is verified via simulation and experiments.