Hanging chain model
Abstract
This work investigates the use of input shaping techniques for controlling oscillations in a chain suspended from an overhead crane, aiming to enhance crane operations without sacrificing speed or safety. The study focuses on two specific input shaping strategies: step-input and polynomial-input shapers. The step-input shaper applies discrete changes at determined intervals, whereas the polynomial-input shaper utilizes a continuous function to adjust the crane's input throughout its operation. Numerical simulations assess the effectiveness of these techniques in reducing oscillations across various vibration modes of the chain and examine their impact on overall system performance metrics such as maneuver time, kinetic energy, robustness, and operational smoothness. Results from comprehensive simulations indicate that both input shapers significantly eliminated residual vibrations found in time-reduced inputs. The polynomial-input shaper demonstrated enhanced performance in decreasing the residual kinetic energy, and it promoted smoother operation and better adaptability to variations in chain length.
