Anti-Sway and Position Control for Double-Pendulum Crane Using IS-ADRC Controller
Keywords:ADRC, Input Shaping, Double-Pendulum Crane, Impulse Vector, Vibration Suppression
Gantry cranes are widely used in various fields such as industry and transportation. However, during operation, the crane generates unwanted payload vibration, causing difficulties in operation and safety at work. Especially with double-pendulum cranes, this is even more serious. This paper proposed ADRC and Input Shaping combination controller in controlling trolley position and suppressing payload vibration. The Equal Shaping-Time and Magnitude (ETMn) is presented for comparison with traditional Input Shaping method. Simulation results show the effectiveness of the proposed method.
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