Dynamics Modeling and Control of a Double-Supported Water-Filled Rectangular Container Conveyed by an Overhead Crane

Abstract A dynamical model governing the motion of a double-supported water-filled rectangular container conveyed by an overhead crane is proposed. The internal water is modeled as two parts: a moving part represented by a pendulum system and a rigid body that swings with the container. The mathematical model is validated against a finite-element model incorporating fluid–structure interaction. An open-loop input-shaping technique is employed for fast rest-to-rest maneuvering, using two multimode shapers: the convolved and simultaneous input shapers. The system’s natural frequencies from the linearized model are utilized to design the multimode input shapers. Finite-element simulations and experimental results from a constructed setup of the double-supported water-filled rectangular container model confirm the necessity of considering all vibrational modes to eliminate residual vibrations and suppress sloshing. Sensitivity analyses highlight the importance of robust input shapers in managing system nonlinearities. Key differences between the controllers in terms of design process, shaper’s duration, number of generated impulses in their sequences, sloshing suppression, and robustness against water depth variations are discussed.