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

会議情報

主催: The Society of Instrument and Control Engineers

共催: 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

著者情報

キーワード: Rotary crane, Modeling, Optimal control, Vibration control

会議録・要旨集フリー

p. 268

詳細

抄録

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.

責任著者(Corresponding author)

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