130 Vibration Suppression for Positioning Control of Jib Cranes by Angular Acceleration Inputs in Derricking Motion

Abstract

The construction methods of acceleration input pattern which suppress the residual vibration in positioning of a jib crane are proposed. In derricking motion, the moment acting on the payload due to inertia force is nonlinear function of the derricking angle. So the effectiveness of the proposed methods is not clear. However, by numerical simulation, it is clarified that the combination of proposed methods can suppress the residual vibration instead of nonlinearity of the moment. By window function method, the robustness is also achieved.