In this paper we report a design method for controlling a travelling crane mounted on a flexible structure. In order to control the position of the crane cart, the sway of the crane rope and the vibration of the flexible structure, a robust servosystem is designed using the normalized coprime factor H∞ robust stabilization approach. We consider varying the length of the crane rope in positioning control and schedule the H∞ compensator in accordance with varying the natural frequency of the crane rope. By numerical calculation the settling performance of the gain-scheduled H∞ compensator is compared with that of a switching H∞ compensator. We verify the efficiency of the gain-scheduled H∞ compensator.
|Number of pages||7|
|Journal||Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C|
|Publication status||Published - 1996 Jan 1|
ASJC Scopus subject areas
- Mechanics of Materials
- Mechanical Engineering
- Industrial and Manufacturing Engineering