Abstract
A crane mounted on a tower-like flexible structure called the 'Tower crane' has a problem that a fast transfer of the load causes the sway of the load and the vibration of the flexible structure. We have already shown that it is possible to control both the sway and the vibration by the inherent capability of the tower crane. Although our control method assumed using a torque-control motor, the real tower crane uses a speed-control motor. This paper derives the control design model considering a speed-control motor by using block diagrams of the local feedback of angular velocity. We design the H_∞ controller and verifies its efficiency by experiments.
