|Educational Applications for the Bridge Crane|
|The bridge crane has been used in graduate and
undergraduate controls courses. The crane was used to teach basic input
shaping techniques and give the students hands on experience with real
In ME3015, the undergraduate controls course, the crane was used as a demonstration device to teach input shaping. After the students learned the basics of input shaping in the classroom, they were taken to the Hibay and allowed to drive the crane with and without input shaping. This showed the students, first-hand, how input shaping improves crane response.
In ME4055, the senior laboratory course, students designed vibration experiments with the crane setup. The students captured the crane-swing with a Camcorder and then used image processing to measure the swing with and without Input Shaping. This assignment was designed to give the students experience with advanced data-acquisition techniques for real world machines.
In ME6404, the graduate-level controls course, students designed input shaping algorithms and tested them on the crane. The students learn the theoretical basis behind input shaping and then use this knowledge to design input shapers of their own. The student shapers are then programmed into the PLC and run on the crane. The shapers are tested for their ability to suppress vibration and robustness to modeling errors.