Automatic parameter selection ZVD shaping algorithm for crane vibration suppression based on particle swarm optimisation

This work introduces the foundation of a new class of input shaping algorithm, designed based on the particle swarm optimisation. This algorithm is utilised to control the residual vibrations in the crane system. The motivation is the development of simple algorithms and architecture for controlling the motion in under-actuated nonlinear systems with minimal modelling effort. By recording the payload swing signal of the crane only once, the approach can automatically calculate the optimisation amplitude and time locations of the impulses required by a common zero-vibration-derivative (ZVD) technique. In this work, we use this algorithm to design a ZVD shaper for controlling the motion of an under-actuated nonlinear crane model system. We validate the approach using experiments. If this algorithm is implanted into the embedded system and applied to the actual crane, which will solve the problem of the traditional ZVD parameter adjustment and improve the vibration suppression effect of the ZVD Algorithm.