Application of Output-based filter for vibration suppression of gantry crane

Abstract

Gantry cranes are widely used in many different fields such as industry or transportation. However, the crane generates unwanted payload vibration during operation, causing operation and safety at work difficulties. There are many crane control methods, but most of them are quite complicated in controller design and practical implementation. This paper proposed the ADRC in combination with Output-based input shaping filter for gantry crane control, in which ADRC is used for precise position control and the filter is designed to reduce the payload sway angle. The advantage of this approach is that only the signals of the system output are required for the filter design. Since most of model information on the target system is not needed, the problem of parameter uncertainty is avoided. Simulation results show that the proposed design can not only suppression the vibrations in the sway angle output but also achieve the desired system response time in position control.