1P2-D02 Feedforward Function of Carriage for Quick Vibration Suppression of Suspended Load in Overhead Hoist Transfer Machine

Abstract

Optimal feedforward trajectories of a carriage are derived in an overhead hoist transfer machine for quick suppression of residual oscillation in a hoisting load by using vibration manipulation function. By deciding the route of the load as that of linear rotational oscillation, proper carriage trajectory can be determined under the influence of nonlinearity and the elevation/descendent of the load. Since intermittent acceleration function can decide discrete positions and velocities of the load, trajectory of the carriage realizes quick suppression of residual vibration under non-approximated situation. To confirm the method, some results of simulations and simple experiments will be shown.