Dynamics and Embedded Internet of Things Input Shaping Control for Overhead Cranes Transporting Multibody Payloads

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dc.contributor.author Izquierdo, Pablo
dc.contributor.author Pelaez, Gerardo
dc.contributor.author Vaugan, Joshua
dc.contributor.author Rubio Alonso, Higinio
dc.contributor.author García Prada, Juan Carlos
dc.date.accessioned 2019-02-18T09:50:18Z
dc.date.available 2019-02-18T09:50:18Z
dc.date.issued 2018-06-04
dc.identifier.bibliographicCitation Peláez, G., Vaugan, J., Izquierdo, P., Rubio, H., García-Prada, J.C. (2018). Dynamics and Embedded Internet of Things Input Shaping Control for Overhead Cranes Transporting Multibody Payloads. Sensors, 18 (6), 1817.
dc.identifier.issn 1424-8220
dc.identifier.uri http://hdl.handle.net/10016/28079
dc.description.abstract Input shaping is an Optimal Control feedforward strategy whose ability to define how and when a flexible dynamical system defined by Ordinary Differential Equations (ODEs) and computer controlled would move into its operative space, without command induced unwanted dynamics, has been exhaustively demonstrated. This work examines the issue of Embedded Internet of Things (IoT) Input Shaping with regard to real time control of multibody oscillatory systems whose dynamics are better described by differential algebraic equations (DAEs). An overhead crane hanging a double link multibody payload has been appointed as a benchmark case; it is a multibody, multimode system. This might be worst scenario to implement Input Shaping. The reasons can be found in the wide array of constraints that arise. Firstly, the reliability of the multibody model was tested on a Functional Mock-Up Interface (FMI) with the two link payload suspended from the trolley by comparing the experimental video tapping signals in time domain faced with the signals extracted from the multibody model. The FFTs of the simulated and the experimental signal contain the same frequency harmonics only with somewhat different power due to the real world light damping in the joints. The application of this approach may be extended to other cases i.e., the usefulness of mobile hydraulic cranes is limited because the payload is supported by an overhead cable under tension that allows oscillation to occur during crane motion. If the payload size is not negligible small when compared with the cable length may introduce an additional oscillatory mode that creates a multibody double pendulum. To give the insight into the double pendulum dynamics by Lagrangian methods two slender rods as payloads are analyzed dealing with the overhead crane and a composite revolute-revolute joint is proposed to model the cable of the hydraulic crane, both assumptions facilitates an affordable analysis.
dc.description.sponsorship This research was funded by Ministerio de Ciencia e Innovación and FEDER Funds. Research project MAQ-STATUS-2016.
dc.format.extent 34
dc.format.mimetype application/pdf
dc.language.iso eng
dc.publisher MDPI
dc.rights © 2018 by the authors; licensee MDPI, Basel, Switzerland.
dc.rights Atribución-NoComercial-SinDerivadas 3.0 España
dc.rights.uri http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subject.other Input Shaping
dc.subject.other Multibody
dc.subject.other Multimode
dc.subject.other Embedded-IoT
dc.subject.other Feedforward real-time control
dc.subject.other Functional Mock-Up Interface (FMI)
dc.subject.other Video processing
dc.subject.other Wireless Data Transmission 802.14.5 radios
dc.title Dynamics and Embedded Internet of Things Input Shaping Control for Overhead Cranes Transporting Multibody Payloads
dc.type article
dc.subject.eciencia Ingeniería Mecánica
dc.identifier.doi https://doi.org/10.3390/s18061817
dc.rights.accessRights openAccess
dc.type.version publishedVersion
dc.identifier.publicationissue 6
dc.identifier.publicationtitle Sensors
dc.identifier.publicationvolume 18
dc.identifier.uxxi AR/0000021904
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