Effects of hoisting on the input shaping control of gantry cranes

The dynamic behavior of a planar gantry crane with hoisting of the load is investigated. The command generation method of input shaping is proposed fo r reduction of the residual vibration. Several versions of input shaping ar e evaluated and compared with time-optimal rigid-body commands over a wide range of parameters. Input shaping provides significant reduction in both t he residual and transient oscillations, even when the hoisting distance is a large percentage of the cable length. Experimental results from a 15-ton gantry crane at the Savannah River Technology Center are used to support th e numerical results. (C) 2000 Elsevier Science Ltd. AII rights reserved.