Decentralized Control of A Tower Crane for Up-and-Down and Rotational Directions Using Gain-Scheduled Control Considering Varying Load-Rope Length (Control Design for Arbitrary Command of Operator)

Kiyoshi Takagi, Hidekazu Nishimura

Research output: Contribution to journalArticle

4 Citations (Scopus)

Abstract

A crane mounted on a tower-like flexible structure called the ’Tower crane’ has a problem that a fast transfer of the load causes the sway of the load and the vibration of the flexible structure. Furthermore, if the length of the load rope varies, it is difficult to control by the fixed compensator, because the natural frequency of the load rope and gain of the plant to control input vary also. This paper discusses the control design considering operator command with varying load-rope length. A two degree-of-freedom control system is designed, which is consists of the feedforward controller by using a command-shape filter and the gain-scheduled controller considering varying load-rope length. From the results of the experiment, it is shown that the work efficiency is increased by using our proposed control system.

Original languageEnglish
Pages (from-to)914-922
Number of pages9
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume69
Issue number680
DOIs
Publication statusPublished - 2003 Jan 1
Externally publishedYes

Keywords

  • Flexible Structure
  • Gain Scheduling
  • Positioning Control
  • Tower Crane
  • Vibration Control

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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