抄録
In this paper we propose a seismic control system for a jib-type crane mounted on a tower-like structure using the inherent capability of two motors for up-and-down and rotational directions of the jib. Considering that coupling between the up-and-down and rotational directions is negligible small, the decentralized controller for each direction is designed independently. We formulate a linear parameter varying system according to the amplitude of the seismic disturbance taking into account of actuator saturation, and apply the gain-scheduled control. The simulations using a three-dimensional model of the tower crane are carried out to verify the effectiveness of our proposed seismic control system.
