Simulink® implementation and industrial test of Input Shaping techniques

In this paper, a methodology to implement the Input Shaping control in overhead cranes is presented. The realization of Input Shaping has been done using the Simulink® tools Stateflow and PLC Coder. Seven Input Shaping algorithms have been developed. A test has been designed to obtain the characteristic parameters, natural frequency of oscillation and damping ratio, of the overhead crane. An industrial control system based on PLCs, variable speed drives and mass and longitude sensors has been built. This has enabled to perform real tests on a 35 tons overhead crane to verify the benefits of Input Shaping control. Finally, a ship unloader application has been evaluated.