An advanced position control of overhead crane by sway suppression method emulating natural damping

Toshiyuki Kurabayashi, Yang Chuan, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Overhead crane is widely used to convey the payload due to its convenience. However it is hard to control the crane because of its underactuated structure. The most important control requirement is to make the trolley position converge to target position accurately with suppressing payload sway. This makes it possible to achieve the purpose of overhead crane which is to convey payload to target position stably. In the practical implementation, however, the achievement of both conveying trolley to target position and suppressing payload sway is not always easy. In this paper, emulating natural damping method is proposed. The natural damping is defined as energy damping of crane system caused by trolley friction. Not only trolley but also payload energy is damped by natural damping effect. The proposed approach brings to achieve both trolley position convergence and payload sway suppression.

Original languageEnglish
Title of host publication2014 International Power Electronics Conference, IPEC-Hiroshima - ECCE Asia 2014
PublisherIEEE Computer Society
Pages1962-1967
Number of pages6
ISBN (Print)9781479927050
DOIs
Publication statusPublished - 2014
Event7th International Power Electronics Conference, IPEC-Hiroshima - ECCE Asia 2014 - Hiroshima, Japan
Duration: 2014 May 182014 May 21

Other

Other7th International Power Electronics Conference, IPEC-Hiroshima - ECCE Asia 2014
CountryJapan
CityHiroshima
Period14/5/1814/5/21

Fingerprint

Position control
Cranes
Damping
Conveying
Friction

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Kurabayashi, T., Chuan, Y., & Murakami, T. (2014). An advanced position control of overhead crane by sway suppression method emulating natural damping. In 2014 International Power Electronics Conference, IPEC-Hiroshima - ECCE Asia 2014 (pp. 1962-1967). [6869856] IEEE Computer Society. https://doi.org/10.1109/IPEC.2014.6869856

An advanced position control of overhead crane by sway suppression method emulating natural damping. / Kurabayashi, Toshiyuki; Chuan, Yang; Murakami, Toshiyuki.

2014 International Power Electronics Conference, IPEC-Hiroshima - ECCE Asia 2014. IEEE Computer Society, 2014. p. 1962-1967 6869856.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kurabayashi, T, Chuan, Y & Murakami, T 2014, An advanced position control of overhead crane by sway suppression method emulating natural damping. in 2014 International Power Electronics Conference, IPEC-Hiroshima - ECCE Asia 2014., 6869856, IEEE Computer Society, pp. 1962-1967, 7th International Power Electronics Conference, IPEC-Hiroshima - ECCE Asia 2014, Hiroshima, Japan, 14/5/18. https://doi.org/10.1109/IPEC.2014.6869856
Kurabayashi T, Chuan Y, Murakami T. An advanced position control of overhead crane by sway suppression method emulating natural damping. In 2014 International Power Electronics Conference, IPEC-Hiroshima - ECCE Asia 2014. IEEE Computer Society. 2014. p. 1962-1967. 6869856 https://doi.org/10.1109/IPEC.2014.6869856
Kurabayashi, Toshiyuki ; Chuan, Yang ; Murakami, Toshiyuki. / An advanced position control of overhead crane by sway suppression method emulating natural damping. 2014 International Power Electronics Conference, IPEC-Hiroshima - ECCE Asia 2014. IEEE Computer Society, 2014. pp. 1962-1967
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