Time-efficient input shaping control of container crane systems

Time-efficient feedforward controls of input shaping are proposed for reducing the residual vibrations for container crane systems. Considering the change of rope length by the hoist, several versions of input shaping control are evaluated and compared over a wide range of parameters. As a result, the proposed time-efficient input shapers for container cranes are more effective than conventional shapers in maneuver time and insensitivity range. Also, the time-efficient input shapers relax the tradeoff relationship in maneuver time and insensitivity range. The proposed input shaping control for container cranes modeled as linear time-varying (LTV) systems does not yield exactly zero residual vibration; however, when the change of rope length by the hoist is small, the method yields essentially zero residual vibration. Simulation results are provided.