運動と振動の連成を利用したスタッカクレーンの残留振動抑制

抄録

The problem of suppressing residual vibration of stacker cranes has been studied for a long time, but many of methods proposed so far have restrictions on use, such as the need to adjust the operating time to an integral multiple of the natural period of the system. In this study, a detailed dynamic model of the stacker crane is derived based on the flexible multibody dynamics theory. Then, a new control method with less restrictions that suppresses residual vibration by utilizing the coupling of the translational motion of the cart and the carriage, and the elastic vibration of the mast.