Input Shaping Control of Double- researchers have suggested adding feedback control to suppress
the double-pendulum dynamics 关8,9兴. Using feedback control is
Pendulum Bridge Crane Oscillations
William Singhose
e-mail: singhose@gatech.edu
Dooroo Kim
Woodruff School of Mechanical Engineering,
Georgia Institute of Technology,
Atlanta, GA 30332
Michael Kenison
Schlumberger Technology Corporation,
Sugar Land, TX 77478
e-mail: kenison@sugar-land.oilfield.slb.com
Large amplitude oscillation of crane payloads is detrimental to
safe and efficient operation. Under certain conditions, the prob-
lem is compounded when the payload creates a double-pendulum
effect. Most crane control research to date has focused on single-
pendulum dynamics. Several researchers have shown that single-
mode oscillations can be greatly reduced by properly shaping the
inputs to the crane motors. This paper builds on those previous
developments to create a method for suppressing double-
pendulum payload oscillations. The input shaping controller is
designed to have robustness to changes in the two operating fre-
quencies. Experiments performed on a portable bridge crane are
used to verify the effectiveness of this method and the robustness
of the input shaper. 关DOI: 10.1115/1.2907363兴
1 Introduction
Manipulation of heavy objects at disaster sites, nuclear plants,
warehouses, construction sites, and shipyards is often accom-
plished with cranes. Unfortunately, the natural sway of crane pay-
loads causes safety hazards, time delays, and degradation of posi-
tioning accuracy. Much of the previous work on crane control has
concentrated on single-pendulum dynamics or on the single pen-
dulum with changing length 共hoisting兲.
If a computer controller is utilized and cable swing is consid-
ered in the control design, then time-optimal commands that result
in zero residual vibration can be generated 关1兴. Hoisting of the
payload during transverse motion increases the difficulty of con-
trol because the oscillation frequency is time varying. Optimal
controls based on time-varying and nonlinear models can be dif-
ficult to generate 关2,3兴. Even if optimal commands are generated,
implementation may be impractical because the final setpoint
must be known at the outset of the motion. When feedback mea-
surements are available, adaptive controllers and combination
open- and closed-loop control is possible 关4,5兴.
If a crane behaves like a single pendulum, then experienced
crane operators can eliminate much of the payload sway by caus-
ing an oscillation during deceleration that cancels the oscillation
induced during acceleration. However, certain types of payloads
and riggings result in double-pendulum dynamics 关6,7兴. Under
these conditions, the manual method of eliminating oscillation
becomes very difficult, even for skilled operators. Therefore, some
Contributed by the Dynamic Systems, Measurement, and Control Division of
ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CON-
TROL. Manuscript received August 16, 2006; final manuscript received August 14,
2007; published online May 1, 2008. Assoc. Editor: Nader Jalili.
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challenging due to the difficulty of measuring the payload motion.
Therefore, this paper does not advocate feedback control, but
rather command-shaping control that does not require sensors.
For a crane controller to be practical for real-time oscillation
suppression, it must filter out unwanted excitations from the
human-generated command signal. Such a modification can be
accomplished by convolving the human-generated command sig-
nal with a sequence of impulses 关10,11兴. The result of the convo-
lution is then used to drive the crane motors. This input-shaping
process is demonstrated in Fig. 1 with a pulse command and an
input shaper containing three impulses. Note that velocity pulse
commands are very common in crane control because human op-
erators often press on-off buttons to drive cranes. The proper tim-
ing and scaling of the shaper impulses ensure that the system will
arrive at the desired state without vibration. Input shaping has
proven effective for controlling oscillation of single-pendulum
cranes 关5,12,13兴 and of single-pendulum cranes that undergo pay-
load hoisting 关14兴.
The earliest input-shaping techniques were developed in the
1950s 关11兴. The “posicast” control method developed by Smith
breaks commands into two smaller magnitude commands, one of
which is delayed by one-half period of the natural frequency, ␻n.
The primary constraint equation used to calculate the command
components ensures that there will be zero residual vibration
when the system model is perfect. Therefore, posicast control is
now commonly referred to as zero vibration 共ZV兲 input shaping.
Input shaping has been implemented on several large bridge
cranes at nuclear facilities 关12,14兴 and a 10-ton crane at Georgia
Tech 关5,15兴. The Georgia Tech crane has an overhead vision sys-
tem that can track the motions of the hook and payload. Figure 2
shows the responses of the crane hook under standard operation
and also when input shaping is enabled. The two responses are
from the same human operator. Under normal operation the hook
has large transient and residual sways. However, input shaping
virtually eliminates the detrimental oscillations.
Input shaping has many advantages over feedback controllers.
Input shaping does not require cameras or other sensors to deter-
mine the state of the crane and its payload. Therefore, input shap-
ing is less expensive to implement. When using input shaping, the
system can have a faster settling time than with feedback control-
lers alone 关16兴. Finally, input shaping cannot make a system go
unstable.
In this paper, the dynamics and control of bridge cranes that
exhibit double-pendulum dynamics are investigated. The impor-
tance of the double-pendulum effect is characterized as a function
of the system parameters in Sec. 2. An input shaping scheme
based on linear, time-invariant dynamics is then developed to
mitigate the double-pendulum effects. As a first step in this devel-
opment, Sec. 3 demonstrates the effect of input shaping for only
the low mode of oscillation. While this significantly reduces the
oscillation, the second mode can still be problematic in a large
range of operating conditions. Therefore, Sec. 4 describes a
method of input shaping to suppress both modes. Experimental
results from a bridge crane are used to demonstrate the improved
response provided by the proposed approach.
2 Double-Pendulum Dynamics
Figure 3 shows a schematic representation of a double-
pendulum crane. The crane is moved by applying a force, u共t兲, to
the trolley. A cable of length L1, hangs below the trolley and
supports a hook of mass, mh, to which the payload is attached
using rigging cables. Here, the rigging and payload are modeled
as a second cable, of length, L2, and point mass, m p. Assuming
that the cable and rigging lengths do not change, the linearized
equations of motion, assuming zero initial conditions, are
MAY 2008, Vol. 130 / 034504-1
 Fig. 1 Input shaping a pulse input

冉 冊 冉 冊
␪¨ 1共t兲 = −
g
L1
␪1 +
gR
L1
␪2 −
u共t兲
L1
Fig. 4 Variation of low and high frequencies

共1兲
␪¨ 2共t兲 = 冉 冊 冉
g
L1
␪1 − +冊
g gR gR
+
L2 L2 L1
␪2 +
u共t兲
L1 In this section, we examine a subset of crane manipulation tasks
where the crane is used to move payloads that remain near the
where ␪1 and ␪2 describe the angles of the two pendulums, R is ground. That is, the sum of the two cable lengths stays constant.
the ratio of the payload mass to the hook mass, and g is the Figure 4 shows the two oscillation frequencies as a function of the
acceleration due to gravity. Note that double-pendulum crane dy- mass ratio and the rigging length, L2, when the total length 共sus-
namics can also arise when the payload is a long distributed mass pension cable plus rigging兲 is held constant at 6 m. The low fre-
connected to a massless hook. The equations of motion of such a quency changes very little and corresponds closely to the fre-
crane differ from those given in Eq. 共1兲. However, the input shap- quency of a single 6 m pendulum. On the other hand, the second
ing techniques presented in this paper will still be effective, pro- mode has a strong dependence on the rigging length.
vided that the two oscillation frequencies in such a system can be The low frequency is maximized when the two cable lengths
reasonably approximated. are equal 共3 m in this case兲. This maximum condition can be
The linearized frequencies of the double-pendulum dynamics proven by differentiating the expression for ␻1 given in Eq. 共2兲
modeled in Eq. 共1兲 are
with respect to L2 and then setting the result equal to zero. Note

␻1,2 = 冑冑 g
2
共1 + R兲 冉 1
+
1
L1 L2
⫿␤ 冊 共2兲
that over the wide range of parameter values shown in Fig. 4, the
low frequency only varies between 0.2040 Hz and 0.2521 Hz.
This is a ⫾11% variation about the median value of 0.2281 Hz. In
where contrast, the second mode deviates ⫾78% over the same param-

␤= 冑 共1 + R兲2 冉 1
+
1
L1 L2
冊 冉 冊
2
−4
1+R
L 1L 2
共3兲
eter range.
These results seem to indicate that an oscillation control
scheme would need more robustness to variations in the second
The frequencies depend on the two cable lengths and the mass mode than in the first mode. However, if the amplitude of the
ratio. It is of interest to investigate how the frequencies change as second mode is very small compared to the first mode, then the
a function of the system parameters. Such information can be used controller does not need to address the second mode. The relative
to design an effective input-shaping controller. contribution of the two modes can be examined by breaking the
overall dynamic response into components arising from ␻1 and
␻ 2.
The responses of the two swing angles, ␪1 and ␪2, to an impulse
of magnitude A, introduced at time t0, are

A␻1共1 + ␻22L1␣兲
␪1共t兲 = sin共␻1共t − t0兲兲
k
A␻2共1 + ␻21L1␣兲
− sin共␻2共t − t0兲兲 共4兲
k

A␻1 A␻2
␪2共t兲 = sin共␻1共t − t0兲兲 − sin共␻2共t − t0兲兲 共5兲
Fig. 2 Typical hook responses k k

where

− g共1 + R兲
␣= and k = ␤L1g 共6兲
␻21␻22L1L2
If we assume small angles, then the impulse response of the
payload in the horizontal direction can be approximated as

x共t兲 = C1 sin共␻1t + ␺1兲 + C2 sin共␻2t + ␺2兲 共7兲

Fig. 3 Double-pendulum crane where

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Fig. 5 Ratio of high-mode amplitude to low-mode amplitude
␻1L1共1 + ␻22␣共L1 + L2兲兲
C1 =
k
冑冉兺 冊 冉兺
n 2 n 2
⫻ A j cos共␻1t j兲 + A j sin共␻1t j兲
j=1 j=1
− ␻2L1共1 + ␻21␣共L1 + L2兲兲
C2 =
k
冑冉兺 冊 冉兺
n 2 n 2
⫻ A j cos共␻2t j兲 + A j sin共␻2t j兲
j=1 j=1
The two coefficients, C1 and C2, indicate the contributions of each
mode to the overall payload response.
The goal of this work is to design an input shaper to move
double-pendulum cranes with very little residual vibration. To do
this, we need to limit the maximum amplitude of the residual
vibration from a series of impulses. Because ␻1 ⫽ ␻2 and the
damping for each mode is approximately zero, the maximum am-
plitude can be found by adding the maximum amplitudes from
each mode as follows:
Vamp = 兩C1兩 + 兩C2兩
Using this decomposition, the contribution of the second mode
becomes apparent and indicates when two-mode input shaping is
required. Figure 5 shows the ratio of the high-mode contribution
to the low-mode contribution for a large range of length and mass
ratios, again assuming an overall length of 6 m. The surface indi-
cates that double-pendulum input shaping will be necessary for
systems with low payload-to-hook mass ratios. The second-mode
contribution is particularly large when the suspension and rigging
lengths are approximately equal.
3 Input Shaping for One Mode
There are numerous ways to design single-mode input shapers.
The interested reader should consult one of the many references
关10,11,17–20兴. In this section, ZV input shapers are used in both
simulation and in experiments on a portable bridge crane. The
crane has been used to teach advanced controls courses at Georgia
Tech, Georgia Tech Lorraine in France 关21兴, Kumoh National In-
stitute of Technology in Korea, and at the Tokyo Institute of Tech-
nology in Japan.
Figure 6 shows the simulated response of the hook when the
trolley is moved 30.5 cm 共1 ft兲 using standard on/off velocity
commands generated when a human operator pushes the control
buttons. For these simulations, the mass ratio of the double pen-
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Fig. 6 Simulated hook response, R = 2
dulum was set to 2 and the length ratio was 1. Figure 6 also shows
the predicted response when a ZV shaper designed to suppress the
low mode is used to modify the commands. The simulated re-
sponse shows that the low mode has been eliminated, but some
second-mode oscillations remain. The oscillation amplitude is 9%
of the unshaped case.
Figure 7 shows the experimentally measured responses using
approximately the same parameter settings as in the simulations
shown in Fig. 6. The parameters are approximate because suspen-
冊
sion length, rigging length, and masses cannot be measured with
total accuracy. Furthermore, actuator nonlinearities in the experi-
共8兲 mental setup were not integrated into the simulations. These tests
were conducted with a computer generating the commands so that
the crane would accurately move 30.5 cm. The experiments con-
firm the predicted large reduction in the low-mode amplitude
when ZV shaping is utilized. However, the residual oscillation is
冊
only reduced down to 22% of the unshaped case due to small
nonzero initial conditions, modeling errors, and nonlinear actuator
共9兲 dynamics. The experiments and simulations demonstrate the im-
portant result that single-mode ZV shaping will attenuate the first
mode, but not necessarily the second mode.
4 Input Shaping for Double Pendulums
When the second mode causes the payload oscillation to exceed
tolerable levels, then it must be taken into account when designing
an input shaper. There are a number of methods for designing
multimode input shapers 关22–24兴. In this section, a technique is
developed to directly target the two predicted frequencies of a
double-pendulum crane. In order to determine the input shaper
共10兲 impulse amplitudes and time locations, a set of constraint equa-
tions is formulated and then satisfied.
4.1 Residual Vibration Constraints. The maximum residual
vibration amplitude from a series of impulses given in Eq. 共10兲
can be used as a constraint equation by requiring the vibration
amplitude, Vamp, to be less than some tolerable threshold, Vtol. It
has been shown that robustness can be improved if the vibration is
limited to a small value, rather than forced to be exactly zero
关19,25兴.
In previous work on two-mode shapers, the vibration was not
Fig. 7 Experimental response, R = 2
MAY 2008, Vol. 130 / 034504-3
 Fig. 8 Suppressing two frequency ranges
limited to a physical dimensional limit, such as 1 cm. Instead, the
vibration of each mode was limited to a small percentage of the
vibration occurring without the use of input shaping. While lim-
iting percentage vibration is theoretically convenient, it makes it
challenging to enforce a performance requirement expressed as a
physical dimension such as, “limit the residual oscillation to less
than 1 cm.” Fortunately, Eq. 共10兲 allows us to directly limit the
overall residual amplitude to a specific dimensional value by writ-
ing it in the following form:
Vtol 艌 兩C1兩 + 兩C2兩 共11兲
In this case, Vtol can be expressed with a unit of length, such as
centimeter or inch.
4.2 Amplitude Constraints. The vibration caused by an in-
put shaper can be limited by Eq. 共11兲. However, if the input shaper
impulse amplitudes are not constrained, then their values can
range between positive and negative infinities. There are two pos-
sible solutions to this problem: limit the magnitude of the im-
pulses to less than a specific value or require all the impulses to
have positive values. To streamline the presentation, the shapers
discussed in this paper will contain only positive impulses as fol-
lows:
Ai ⬎ 0, i = 1, . . . ,n 共12兲
where n is the number of impulses in the shaper. Note that the
methods presented here are applicable to shapers containing nega-
tive impulses. If negative impulses are allowed, then the rise time
will improve, but potential drawbacks such as excitation of un-
modeled high modes and actuator saturation must be addressed.
Techniques for managing the challenges of negative input shapers
have been well documented 关20兴. A second amplitude constraint
must be enforced so that the shaped command reaches the desired
setpoint; the impulse amplitudes must sum to 1 as follows:
n straints can easily be added to accommodate changes in mass or
兺A =1
i 共13兲
i=1
4.3 Robustness Constraints. The residual vibration con-
straint of Eq. 共11兲 can be used to limit the vibration at a single set
of frequencies 共␻1 and ␻2兲. If the actual crane frequencies coin-
cide with those used in Eq. 共11兲 to design the shaper, then the
oscillation will be eliminated. However, to ensure robustness to
modeling errors and parameter variations, the oscillation must re-
main small over a neighborhood of frequencies that surround the
modeling frequencies. Robustness can be assured by using mul-
tiple versions of Eq. 共11兲 to limit the vibration at several points
near the modeling frequencies. This process is demonstrated in
Fig. 8 for a two-mode system. In this case, the vibration has been
limited at three frequencies near the low mode and five frequen-
cies near the high mode. Because this approach allows the de-
signer to specify the frequency range over which the vibration is
suppressed, the resulting shapers are called specified insensitivity
共SI兲 shapers 关26兴. The robustness of such a shaper is measured by
034504-4 / Vol. 130, MAY 2008
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Fig. 9 Length-ratio sampling „nominal value= 2.4…
its insensitivity—the nondimensional frequency range over which
it suppresses vibration.
In Fig. 8, modes at 1 Hz and 2.75 Hz are both suppressed with
an insensitivity of 0.4. The low-range suppression is from
0.8 Hz to 1.2 Hz. Dividing this spread by the nominal 1 Hz value
gives I1 = 0.4. The high mode is suppressed from
2.2 Hz to 3.3 Hz. When this 1.1 Hz range is divided by the nomi-
nal 2.75 Hz value, the second-mode insensitivity is once again
calculated as I2 = 0.4.
The analysis in Sec. 2 showed that the high mode is more
dependent on the physical parameters than the low mode. Given
that there will always be errors in the parameter estimates, the
second-mode suppression range may need to be wider. This is
easily done within this framework. Furthermore, the suppression
ranges do not need to be symmetrical about the estimated frequen-
cies. For example, if the normal operation of the crane is more
likely to cause the second mode to increase, rather than decrease,
then the suppression range could be skewed to higher frequencies.
Finally, the tolerable vibration limit, Vtol, can be set to any value
and can even have different values for each mode.
Double-frequency-range suppression can also be accomplished
in a manner that is directly related to the physical parameters of
the crane. Instead of creating suppression ranges from estimated
frequencies, we can vary the suspension-to-rigging length ratio
over the range experienced during normal crane operation. The
constraint equations can then be used to limit the oscillation
across this operating range. This approach is demonstrated in Fig.
9 for the case when the nominal length ratio is 2.4. The length
ratio insensitivity is defined as the nondimensional range of length
ratios over which the vibration remains below the tolerable limit.
For example, the length-ratio insensitivity for the case shown in
Fig. 9 is 1.0 because the oscillation is limited from 0.5 to 1.5
times the nominal length ratio of 2.4. Note that additional con-
the total suspension length.
4.4 Minimization of Shaper Duration. Due to the transcen-
dental nature of the oscillation constraint equations, there are an
infinite number of solutions. To select among these solutions and
ensure that the rise time is as fast as possible, the shaper duration
must be made as short as possible. Therefore, the final necessary
design constraint minimizes the time of the final input shaper
impulse as follows:
min共tn兲 共14兲
To summarize the design process, two-mode SI input shapers
are designed by satisfying Eqs. 共12兲–共14兲 while Eq. 共11兲 is en-
forced over two frequency ranges that contain the expected fre-
quencies at several points throughout the expected range of length
ratios. An alternate approach, which was illustrated in Fig. 9, is to
satisfy Eqs. 共12兲–共14兲 while Eq. 共11兲 is enforced over the expected
range of length or mass ratios. These are straightforward numeri-
cal optimizations. The input shapers designed for this paper were
obtained using the MATLAB optimization toolbox.
Transactions of the ASME
 Fig. 10 Effect of second-mode insensitivity on shaper
duration
4.5 Trade-Offs in Shaper Design. The duration of the two-
mode SI shaper increases with the amount of desired insensitivity.
A plot of shaper duration versus second-mode frequency insensi-
tivity is shown in Fig. 10 for different values of Vtol in both the
low- and high-mode ranges. Fig. 10 was generated using typical
frequencies of an industrial crane at Georgia Tech 共0.25 Hz and
0.35 Hz兲 关5,15兴. Furthermore, the low-mode insensitivity, I1, was
set to 0.10 共⫾5 % 兲. It is apparent that there are certain ranges in
which a substantial increase in insensitivity causes only a small
increase in shaper duration. This knowledge can be used to make
an intelligent choice for the desired insensitivity level. For ex-
ample, a second-mode insensitivity of I2 = 0.4 共⫾20% 兲 with a Vtol
of 5% for both low and high modes may be marginally sufficient
for a particular application. However, given the results shown by
the solid line in Fig. 10, the engineer should increase the required
insensitivity to 0.7, as only a negligible time penalty is incurred.
A three-dimensional plot of the shaper duration as a function of
frequency insensitivity for both the low and high modes is shown
in Fig. 11. The data were generated using Vtol = 0.05 共5%兲 for both
the low and high frequency ranges. When both insensitivities are
low 共⬍0.1兲, the shaper duration is a little over 3 s in duration.
When both I1 and I2 are greater than 0.1, I1 has the dominant
effect on shaper duration. That is, I2 can be very large without
causing the shaper duration to increase substantially, as was
shown previously in Fig. 10. On the other hand, when I2 is held
constant and I1 is increased, the shaper duration increases more
rapidly.
Another important input shaper design parameter is the level of
tolerable residual vibration. Every system has some amount of
vibration that is acceptable. If the shaper is designed to meet this
performance specification, rather than greatly exceed it, then the
shaper duration can be significantly decreased. This effect was
shown somewhat in Fig. 10, but it is clearly demonstrated in Fig.
12 where the shaper duration is plotted as a function of the toler-
able vibration amplitude, Vtol. Five separate values of the desired
frequency insensitivity 共I1,2 = 0.2– 0.6兲 for both the low and high
modes are shown. In each case, increasing the tolerable vibration
Fig. 11 Effect of first- and second-mode insensitivities on
shaper duration
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Fig. 12 Effect of vibration limit on shaper duration
from zero to some small value results in substantial time savings.
Further increases in Vtol continue to yield improved rise time, but
at a reduced rate.
Using a two-mode SI shaper instead of a one-mode SI shaper
obviously incurs a time penalty in shaper duration. It is important
to know if this time penalty is a significant drawback. Figure 13
shows the percent increase in shaper duration for a typical two-
mode SI shaper when compared to a single-mode SI shaper de-
signed for the low mode. To generate the curve, shapers were
designed with a frequency insensitivity of 0.4 for the high mode
and the insensitivity of the low mode was varied. The time penalty
in shaper duration incurred by adding the high-mode suppression
is very small for low-mode insensitivity higher than 0.2. As a
result, suppressing the vibration of the high mode can be accom-
plished with very little cost.
5 Experimental Verification
The procedure described above was used to design an input
shaper for the portable crane with a payload-to-hook mass ratio of
2 and a suspension-to-rigging length ratio of 1. The shaper was
designed to accommodate a ⫾5% variation in the low mode
共0.55 Hz兲 and a ⫾10% variation in the high mode 共1.7 Hz兲. The
冋 册
resulting input shaper contains five impulses:
冋册
Ai 0.1661 0.2321 0.2035 0.2321 0.1661
= 共15兲
ti 0 0.3475 0.7569 1.1664 1.5138
The sensitivity curve for this shaper is the solid line in Fig. 14.
The curve shows the normalized vibration amplitude for the
double-pendulum system and indicates that both modes of the
double-pendulum crane will be suppressed. Figure 15 shows the
experimental response when the double-pendulum shaper is uti-
lized. As predicted by the sensitivity curve, both the first and
second modes are effectively suppressed by the input-shaping pro-
cess.
Recall that for low mass ratios, the second mode will be more
important and the need for two-mode shaping will increase. When
the mass ratio is lowered to 0.5, the two frequencies shift to ap-
Fig. 13 Effect of first-mode insensitivity on shaper duration
„I2 = 40% …
MAY 2008, Vol. 130 / 034504-5
 Fig. 14 Sensitivity curves for the two-mode SI shapers
proximately 0.58 Hz and 1.13 Hz. Note that the low mode is vir-
tually unchanged, but the second mode has shifted considerably.
冋 册
For these values, the two-mode SI shaper is
冋册Ai
ti
=
0.1889 0.3111 0.3111 0.1889
0 0.4804 1.0044 1.4849
共16兲
The sensitivity curve for this shaper is shown by the dashed line in
Fig. 14. The oscillation suppression characteristics near the low
mode are nearly identical to the SI shaper for R = 2; however, the
second-mode suppression range has shifted to a lower frequency
range to match the decreased second-mode frequency of the R
= 0.5 case. The experimental responses shown in Fig. 16 demon-
strate that the two-mode SI shaper works very well on the R
= 0.5 configuration.
For any control technique to be practical, it must be robust to
modeling errors. The degree of input-shaping robustness can eas-
ily be controlled by adjusting the insensitivity used to design the
shaper. As stated previously, the shapers in Eq. 共15兲 and 共16兲 were
designed to suppress vibration for low-mode variations of ⫾5%
and high-mode variations of ⫾10% from the expected values. To
test if robustness was achieved, the lengths of the suspension and
rigging cable were varied and the tests were repeated 共without
changing the input shaper兲 to obtain the residual vibration ampli-
tude in the presence of modeling errors. Fig. 17 shows the ampli-
Fig. 15 Experimental hook response with double-pendulum SI
shaper, R = 2
Fig. 16 Experimental hook response with double-pendulum SI
shaper, R = 0.5
034504-6 / Vol. 130, MAY 2008
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Fig. 17 Effect of length ratio on oscillation amplitude, R = 2
tude of unshaped and SI shaped vibration over a large range of
length ratios for the case when R = 2. The experimental results
clearly demonstrate the desired robustness.
6 Conclusions
For certain payloads and rigging configurations, bridge cranes
can exhibit significant double-pendulum dynamics. The second
mode becomes important when the mass of the hook is significant
when compared to the mass of the payload. Furthermore, the
second-mode contribution is maximized when the suspension
length and rigging length are equal. When the second mode is
important, an input shaper can be designed to suppress the multi-
mode vibration. Furthermore, the input shaper can be made robust
to modeling errors and parameter variations by suppressing a
range of possible frequencies or anticipated parameter variations.
Experiments on a portable crane demonstrated the effectiveness,
practicality, and robustness of the proposed approach.
Acknowledgment
The authors would like to thank Siemens Energy and Automa-
tion for providing the equipment and funding for this research. In
addition, the authors thank the President’s Undergraduate Re-
search Awards Program at Georgia Tech for their sponsorship of
this project.
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