Mathematical Analysis and Simulation Study of Vibration Control for Suspended Loads via Bias Momentum Method

抄録

In mechanical systems such as cranes and stratospheric balloon systems, the suspended load is affected by translational acceleration and wind disturbances, resulting in sway and rotation, which can pose safety risks, and reduce operational efficiency. Previous research has focused on controlling either sway or rotation individually; however, this study proposes a new method for simultaneously controlling both. In bias moment control, a high-speed rotating momentum wheel is attached to the suspended load, inducing a gyroscopic effect that alters the plane of oscillation in a manner similar to the behavior of a Foucault pendulum. This method requires minimal control input, making it possible to control both vibration and rotation simultaneously. As a result, it offers a practical solution that enables a smaller and lighter control system. The proposed method builds on previous research involving angular momentum exchange devices, such as reaction wheels and control moment gyroscopes, but is considered to offer a more compact and efficient control mechanism. In this study, the motion characteristics of the control system were analyzed in detail, and its control performance was evaluated through a combination of mathematical modeling and numerical simulation. Additionally, the relationships among parameters such as control gain, bias angular momentum, and damping performance were investigated. The results demonstrate that the proposed method is an effective approach for improving the control of suspended loads and is expected to provide practical benefits for a wide range industrial applications.