Control of a gantry crane using input shaping schemes with distributed delay

This paper presents simulation and real-time implementation of input-shaping schemes with a distributed delay for control of a gantry crane. Both open-loop and closed-loop input-shaping schemes are considered. Zero vibration and zero vibration derivative input shapers are designed for performance comparison in terms of trolley position response and level of sway reduction. Simulation and experimental results have shown that all the shapers are able to reduce payload sway significantly while maintaining satisfactory position response. Investigations with different cable lengths that correspond to 620% changes in the sway frequency have shown the distributed delay-based shaper has asymmetric robustness behaviour. The shaper provides highest robustness for the case of 20% increase in the sway frequency but lower robustness for the case of 20% decrease. However, other schemes give symmetric robustness behaviour for both cases

Thermosetting hierarchical composites with high carbon nanotube loadings: en route to high performance

A wet powder impregnation route to manufacture carbon fibre reinforced thermoplastic composites was adapted to accommodate thermosetting matrices reinforced with high fractions (20 wt%/13.6 vol%) of multiwalled carbon nanotubes (CNTs). The produced carbon fibre prepregs were consolidated into laminates with fibre volume fractions of 50–58% and up to 6.1 vol% CNTs. Microscopic imaging confirmed successful consolidation at intermediate CNT loadings, but some voidage at the highest CNT loading due to the highly viscoelastic uncured matrix. Nonetheless, through-thickness electrical conductivity and Mode I interlaminar fracture toughness were enhanced by as much as 152% and 24% to unprecedented values of σ = 53 S m−1 and GIC = 840 J m−2, respectively. Fractographic characterisation indicated that crack deflection was the mechanism responsible for the improved fracture toughness. The material properties were shown to be strongly dependent on the microstructure of the matrix