複数の荷台を有するスタッカクレーンの動力学モデルと残留振動抑制

抄録

Various methods have been proposed for suppressing residual vibration of stacker cranes, but many of them have restrictions when used, such as the need to adjust the operating time to an integral multiple of the natural frequency of the system. In this study, we consider a stacker crane in which multiple carriages run on the mast. First, we derive a dynamic model, and then propose a new method to suppress the elastic vibration of the mast by coordinating multiple carriages.