Input-Shaped Model Reference Control Using Sliding Mode Design for Sway Suppression of An Industrial Overhead Crane

Abstract

Input-shaped model reference control using sliding mode design is a proven method for controlling systems with parameter variations and disturbance. However, this method has never been reported for an industrial overhead crane, which is operated under nonlinear elements such as acceleration and deceleration limits caused by inverters for driving a crane in speed control mode. The successful implementation of this method will allow the crane to be operated in “hybrid mode”, which results in the fastest response from the feedforward control technique, unity magnitude zero vibration (UMZV) and tracking performance from the feedback control. This paper shows the implementation and experimental result of the input-shaped model reference control using sliding mode design for sway suppression of an industrial overhead crane. The control scheme was implemented on an industrial grade 1-ton overhead crane using a PLC and inverters. The experiments compared the control results of the UMZV and the presented control scheme on the industrial overhead crane in the cases that the system parameters are known and uncertain. When the parameters are uncertain, the presented method, with the feedback elements, provided the advantage of reducing residual vibration, while keeping the benefits of the UMZV performance.