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

Area of Science:

• Control Engineering
• Robotics
• Mechanical Systems

Background:

• Input Shaping is a proven optimal control strategy for flexible dynamical systems described by Ordinary Differential Equations (ODEs).
• Real-time control of multibody systems, often described by Differential Algebraic Equations (DAEs), presents challenges due to complex dynamics and constraints.
• Embedded Internet of Things (IoT) devices offer potential for real-time control but require efficient algorithms.

Purpose of the Study:

• To investigate the application of Input Shaping for real-time control of multibody oscillatory systems using embedded IoT devices.
• To adapt and validate Input Shaping for systems described by DAEs, specifically an overhead crane with a double-link payload.
• To develop a computationally efficient Input Shaping method suitable for microcontrollers in IoT applications.

Main Methods:

• A multibody model of an overhead crane with a double-link payload was developed and validated against experimental data using Functional Mock-Up Interface (FMI).
• Lagrangian methods were employed to analyze the dynamics of double pendulum payloads, including normal modes and frequency ranges.
• Novel direct SI-SI Input Shapers were designed to minimize computational requirements for real-time implementation on IoT devices.

Main Results:

• The multibody model accurately predicted system dynamics, with FFTs of simulated and experimental signals showing matching frequency harmonics.
• Input Shapers were successfully calculated for multimode vibrations, significantly reducing unwanted oscillations in both simulations and real-world experiments.
• The proposed direct SI-SI shaper reduced computational load, enabling real-time convolution on a single microcontroller-based IoT device.

Conclusions:

• Embedded IoT Input Shaping is effective for real-time control of complex multibody systems described by DAEs.
• The developed direct SI-SI shaper offers a computationally efficient solution for vibration suppression in IoT-controlled mechanical systems.
• This approach enhances the performance of systems like overhead cranes and has potential applications in mobile hydraulic cranes and other oscillatory systems.