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

Hidekazu Nishimura, Hideaki Tanemura, Kenzo Nonami

Research output: Contribution to journalArticle

8 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 languageEnglish
Pages (from-to)2692-2698
Number of pages7
JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume62
Issue number599
Publication statusPublished - 1996 Jul
Externally publishedYes

Fingerprint

Gantry cranes
Cranes
Flexible structures
Natural frequencies
Stabilization

ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

Gain-scheduled positioning control for varying rope length in travelling cranes. / Nishimura, Hidekazu; Tanemura, Hideaki; Nonami, Kenzo.

In: Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 62, No. 599, 07.1996, p. 2692-2698.

Research output: Contribution to journalArticle

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