Abstract
This paper presents a method of nonstationary optimal control considering collision for lifting and reducing vibration of positioning by a conveyance machine with flexible fork. For large-scale conveyance machine vibration is caused by its motion and the impact at the lifting motion. The vibration affects the next motion, so that the settling time is extended. Requirements for motion control of lifting are as follows; first, to control motion and vibration simultaneously; second, to suppress the impact; third, to control the vibration for either case that there is a load mass on the fork or not. Nonstationary control method is able to consider time-varying systems. Time-varying weightings could be designed considering several control demands changing with time. The usefulness of the proposed method is verified through the experimental examinations; consequently, the settling time of motion and vibration control is considerably reduced in the comparison with the result of the conventional method.
