Anti-Sway and Position Control for Double-Pendulum Crane Using IS-ADRC Controller

Authors

  • Tan Minh Nguyen Hanoi University of Science and Technology
  • Trong Hieu Do Hanoi University of Science and Technology
  • Minh Duc Duong Hanoi University of Science and Technology

Keywords:

ADRC, Input Shaping, Double-Pendulum Crane, Impulse Vector, Vibration Suppression

Abstract

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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Published

2022-06-06

How to Cite

Nguyen, T. M., Do, T. H., & Duong, M. D. (2022). Anti-Sway and Position Control for Double-Pendulum Crane Using IS-ADRC Controller . Measurement, Control, and Automation, 3(1), 3-9. Retrieved from https://mca-journal.org/index.php/mca/article/view/70