Command shaping for vibration reduction of container cranes

A combination of command shaping and bang/off-bang control scheme for container cranes is investigated in this paper. A linear model of the system is used to design the input shaper, where the trolley acceleration is given as an input, for suppressing the payload vibration. Bang/off-bang control guarantees that the trolley reaches the goal position By utilizing an industrial servo motor and its driver, the acceleration command from input shaper...