Input shaping control of a tower crane system

Kranski sustavi su važan dio današnjeg gospodarstva. Omogućuju prijenos teških tereta s jedne pozicije na drugu. Najveći izazov prisutan prilikom premještanja tereta pomoću krana su zaostale vibracije tereta. Njih je moguće pokušati dovesti na vrijednost nule ili na neku vrijednost koja se može tolerirati. Cilj je ostvariti što brži pomak tereta uz što manje zaostale vibracije. Taj problem se može riješiti korištenjem filtara s konačnim impulsnim odzivom (engl. Finite Impulse Response Filters) ili skraćeno FIR filtri dok se metoda suzbijanja zaostalih vibracija korištenjem oblikovanja reference naziva engl. Input Shaping. U radu je korišten engl. Zero Vibration Input Shaper (ZV filter). Kako bi se osiguralo točno pozicioniranje tereta korišten je proporcionalno-derivativni (PD) regulator. Regulator i projektirani filtar za uklanjanje zaostalih vibracija ispitan je na simulacijskom modelu kranskog sustava te eksperimentalno na stvarnom kranskom sustavu.Crane systems are an important part of today's economy. They allow the transfer of heavy loads from one position to another. The major challenge in moving a load with a crane is the residual vibrations of the load. An attempt can be made to bring these to zero or a tolerable value. The goal is to achieve the fastest possible load movement with the least amount of residual vibration. This problem can be solved by using Finite Impulse Response (FIR) filters, while the method of suppressing residual oscillations by FIR filters is called input shaping. In this thesis Zero Vibration (ZV) input shaper is used. To ensure accurate positioning of the load, a proportional-derivative (PD) controller was used. The controller and the designed filter to eliminate residual vibrations were tested on a simulation model of the crane system and experimentally on an actual crane system