DocumentCode
3404769
Title
Sway control of rotary crane using straight transfer transformation method considering the variation of rope length
Author
Shen, Y. ; Yano, K. ; Terashima, K.
Author_Institution
Toyohashi Univ. of Technol., Japan
Volume
2
fYear
2002
fDate
5-7 Aug. 2002
Firstpage
1220
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.
Keywords
cranes; motion control; optimal control; DFP optimization method; Davidon-Fletcher-Powell optimization method; STT model; centrifugal force; optimal control; rope length variation; rotary crane sway control; straight transfer transformation method; Automatic control; Costs; Cranes; Feedback control; Force control; Operating systems; Optimal control; Production facilities; Solid modeling; Vibration control;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN
0-7803-7631-5
Type
conf
DOI
10.1109/SICE.2002.1195358
Filename
1195358
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