Gain-scheduled positioning control for varying rope length in travelling cranes

Hidekazu Nishimura; Hideaki Tanemura; Kenzo Nonami

doi:10.1299/kikaic.62.2692

Gain-scheduled positioning control for varying rope length in travelling cranes

Hidekazu Nishimura, Hideaki Tanemura, Kenzo Nonami

Research output: Contribution to journal › Article › peer-review

10 Citations (Scopus)

Abstract

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.

Original language	English
Pages (from-to)	2692-2698
Number of pages	7
Journal	Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume	62
Issue number	599
DOIs	https://doi.org/10.1299/kikaic.62.2692
Publication status	Published - 1996 Jan 1
Externally published	Yes

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering
Industrial and Manufacturing Engineering

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10.1299/kikaic.62.2692

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Gain-scheduled positioning control for varying rope length in travelling cranes

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