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Systems Science & Control Engineering
An Open Access Journal
Volume 11, 2023 - Issue 1
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Research Article

An active swing suppression control scheme of overhead cranes based on input shaping model predictive control

Weiqiang Tanga College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou, People’s Republic of ChinaCorrespondence[email protected]
View further author information
,
Erpeng Zhaoa College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou, People’s Republic of ChinaView further author information
,
Lijuan Suna College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou, People’s Republic of China;b School of Computer and Artificial Intelligence, Lanzhou Institute of Technology, Lanzhou, People’s Republic of ChinaView further author information
&
Haiyan Gaoc School of Electrical Engineering and Automation, Xiamen University of Technology, Xiamen, People’s Republic of ChinaView further author information
Article: 2188401 | Received 22 Nov 2022, Accepted 04 Mar 2023, Published online: 23 Mar 2023

Figures & data

Figure 1. Overhead crane model.

Figure 1. Overhead crane model.

Figure 2. Principle of input shaping.

Figure 2. Principle of input shaping.

Figure 3. Position response of the trolley.

Figure 3. Position response of the trolley.

Figure 4. Swing response of the payload.

Figure 4. Swing response of the payload.

Figure 5. Structure of ZVD shaper-based PID control for the crane.

Figure 5. Structure of ZVD shaper-based PID control for the crane.

Figure 6. Position response under the different control algorithms.

Figure 6. Position response under the different control algorithms.

Figure 7. Swing response under the different control algorithms.

Figure 7. Swing response under the different control algorithms.

Figure 8. Structure of MPC-ZVD.

Figure 8. Structure of MPC-ZVD.

Figure 9. Position response under the MPC-ZVD algorithm.

Figure 9. Position response under the MPC-ZVD algorithm.

Figure 10. Swing response under the MPC-ZVD algorithm.

Figure 10. Swing response under the MPC-ZVD algorithm.

Figure 11. Control inputs under the MPC-ZVD algorithm.

Figure 11. Control inputs under the MPC-ZVD algorithm.

Figure 12. Position response under the MPC algorithms.

Figure 12. Position response under the MPC algorithms.

Figure 13. Swing response under the MPC algorithms.

Figure 13. Swing response under the MPC algorithms.

Figure 14. Control inputs under the MPC algorithms.

Figure 14. Control inputs under the MPC algorithms.

Figure 15. Position response under the MPC-ZVD algorithm considering disturbance.

Figure 15. Position response under the MPC-ZVD algorithm considering disturbance.

Figure 16. Swing response under the MPC-ZVD algorithm considering disturbance.

Figure 16. Swing response under the MPC-ZVD algorithm considering disturbance.

Figure 17. Control inputs under the MPC-ZVD algorithm considering disturbance.

Figure 17. Control inputs under the MPC-ZVD algorithm considering disturbance.

Data availability statement

All data generated or analyzed during this study are included in this study.

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