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 for reduction of the residual vibration. Several versions of input shaping are evaluated and compared with time-optimal rigid-body commands over a wide range of parameters. Input shaping provides significant reduction in both the 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 the numerical results.