抄録
Many cranes are used as transportation devices in wide industrial fields. Especially, the overhead crane is known as a famous example of cranes. When the trolley moves and the length of the wire rope changes at the same time, undesired vibration with variable frequency occurs, since the natural frequency of the crane changes with the length of the wire rope. For safe and efficient operations, it is necessary to control the motion and reduce the vibration. However, it is difficult to suppress the vibration with ordinary linear time invariant controller because of nonlinearity of the cranes. Therefore, in this study, we first derive an analytical model of the overhead crane as a linear parameter varying (LPV) system. Then, we design the controller using Dual Model Matching (DMM). The effectiveness of the controller is verified through experiments.
