Sway Control of Rotary Crane Using Straight Transfer Transformation Method Considering the Variation of Rope Length

Ying Shen; Ken’ichi Yano; Kazuhiko Terashima

doi:10.11499/sicep.2002.0.268.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.268.0

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

Sway Control of Rotary Crane Using Straight Transfer Transformation Method Considering the Variation of Rope Length

Ying Shen, Ken’ichi Yano, Kazuhiko Terashima

Author information

Keywords: Rotary crane, Modeling, Optimal control, Vibration control

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 268

Details

Abstract

This paper presents a method to control the sway of a rotary crane by using a straight transfer transformation (STT) model. The STT model is built and its parameters are geometrically derived. Considering the variation of the rope length, optimal control of a rotary crane is solved using an optimization method of Davidon-Fletcher-Powell (DFP) so that the load has no sway at the end point of the transfer. The proposed control method using the STT model is demonstrated to be effective to reduce the influence of centrifugal force through simulation and experiments.

Corresponding author

Register with J-STAGE for free!