Robust Input Shaping for Swing Control of an Overhead Crane

Underactuated robotic and mechatronic systems have been employed in many practical applications for a long time. It is crucial to increase crane efficiency for practical applications; yet the primary factor limiting crane efficiency is the payload swing driven on by inertia or outside disturbances. The swing of the crane's payload mass, which moves like a pendulum, has created numerous challenges since it can collide with the operator and result in accidents. This paper presents the simulation implementation of an open-loop input-shaper controller to control the swing angle of an overhead crane. A mathematical model of the two-dimensional overhead crane and input shaper controller was constructed. The model of the overhead crane and the input shaper was created in MATLAB/Simulink and the simulation was executed. This paper evaluated the performance and robustness of input shaping techniques with constant cable length using the zero vibration (ZV), zero vibration derivative (ZVD), zero vibration derivative-derivative (ZVDD), and zero vibration derivative-derivative-derivative (ZVDDD). The payload mass varied in two cases which are 1 kg and 0.3 kg. Based on the simulation results, ZVDDD controller showed the highest reductions in the overall and residual payload swing with 91% for both cases. It is envisaged that the proposed method can be used for improving the robustness of input shapers for payload swing suppression of an overhead crane.