Suppression of Two-Dimensional Load-Sway in Rotary Crane Control Using Only Horizontal Boom Motion

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概要

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• Horizontal motion of booms in rotary cranes typically generates undesirable two-dimensional load-sway; therefore, crane operators must be highly skilled to control the cranes motion. To reduce the burden on human operators, automatic control systems that can simultaneously control the booms position while suppressing unwanted load-sway have been widely investigated. In most existing control schemes, both horizontal and vertical boom motion must be used to suppress load-sway. However, it would be less energy intensive and indeed safer if a control scheme could be developed that only utilized horizontal boom motion, i.e. without the need for any vertical motion. In this paper, we present a nonlinear controller design that enables both boom positioning and load-sway suppression using only horizontal boom motion. Numerical simulations and experimental results demonstrate the effectiveness of the proposed method.

著者

• Uchiyama Naoki

  Department Of Dermatology Niigata University School Of Medicine

• OUYANG Huimin

  Department of Mechanical Engineering, Toyohashi University of Technology

• SANO Shigenori

  Department of Mechanical Engineering, Toyohashi University of Technology

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