抄録
Overhead traveling cranes are widely used at ports and factories, and they play an important role in mass transportation systems. The main problem in operation of overhead traveling cranes is that the residual vibration of a cargo often occurs at the end of transportation. At present, prevention of the residual vibration depends on proficient skills of operators. Therefore, the automatic operation of overhead traveling cranes is strongly desired for an efficient and safe transportation. In our previous paper, a new type of open-loop control has been proposed which is based on the concept that the residual vibration does not occur in a linear undampede system excited by an external force which does not contain the component of natural frequency. This control is also applicable to system with strong damping and nonlinearity by regarding associated terms as part of the external force. This paper improves the robustness against an inevitable estimation error in natural frequency, combining an optimization method in order to reduce the swing motion of the cargo during transportation.
