Decentralized Control of A Tower Crane for Up-and-Down and Rotational Directions Using Gain-Scheduled Control Considering Varying Load-Rope Length : Control Design Arbitrary Command of Operator

Abstract

A crane mounted on a tower-like flexible structure called the 'Tower crane' has a problem that a fast transfer of the load causes the sway of the load and the vibration of the flexible structure. Furthermore, if the length of the load rope varies, it is difficult to control by the fixed compensator, because the natural frequency of the load rope and gain of the plant to control input vary also. This paper discusses the control design considering operator command with varying load-rope length. A two degree-of-freedom control system is designed, which is consists of the feedforward controller by using a command-shape filter and the gain-scheduled controller considering varying load-rope length. From the results of the experiment, it is shown that the work efficiency is increased by using our proposed control system.