Position convergence and sway suppress method of overhead crane by emulating natural damping

Toshiyuki Kurabayashi; Toshiyuki Murakami

doi:10.1109/AMC.2014.6823351

Position convergence and sway suppress method of overhead crane by emulating natural damping

Toshiyuki Kurabayashi, Toshiyuki Murakami

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

Overhead crane is used widely to convey the pay-load due to its convenience. It is difficult to convey the payload without payload sway for operators. Payload sway causes not only decreasing safety but also decreasing convey efficiency. Therefore it is demanded both conveying trolley to target position and suppressing payload sway. But it is difficult to achieve both conveying trolley to target position and suppressing payload sway. In this paper, assist control by emulating natural damping method is proposed. 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. Natural damping can achieve both trolley position convergence and payload sway suppression.

Original language	English
Title of host publication	2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	610-615
Number of pages	6
ISBN (Print)	9781479923243
DOIs	https://doi.org/10.1109/AMC.2014.6823351
Publication status	Published - 2014 Jan 1
Event	2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan Duration: 2014 Mar 14 → 2014 Mar 16

Publication series

Name	International Workshop on Advanced Motion Control, AMC

Other

Other	2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
Country/Territory	Japan
City	Yokohama
Period	14/3/14 → 14/3/16

Keywords

Anti swinging control
Crane
Underactuated system
operator assist
robust control

ASJC Scopus subject areas

Control and Systems Engineering
Modelling and Simulation
Computer Science Applications
Electrical and Electronic Engineering

Access to Document

10.1109/AMC.2014.6823351

Cite this

Kurabayashi, T., & Murakami, T. (2014). Position convergence and sway suppress method of overhead crane by emulating natural damping. In 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014 (pp. 610-615). [6823351] (International Workshop on Advanced Motion Control, AMC). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823351

Position convergence and sway suppress method of overhead crane by emulating natural damping. / Kurabayashi, Toshiyuki; Murakami, Toshiyuki.
2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 610-615 6823351 (International Workshop on Advanced Motion Control, AMC).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kurabayashi, T & Murakami, T 2014, Position convergence and sway suppress method of overhead crane by emulating natural damping. in 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014., 6823351, International Workshop on Advanced Motion Control, AMC, Institute of Electrical and Electronics Engineers Inc., pp. 610-615, 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014, Yokohama, Japan, 14/3/14. https://doi.org/10.1109/AMC.2014.6823351

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abstract = "Overhead crane is used widely to convey the pay-load due to its convenience. It is difficult to convey the payload without payload sway for operators. Payload sway causes not only decreasing safety but also decreasing convey efficiency. Therefore it is demanded both conveying trolley to target position and suppressing payload sway. But it is difficult to achieve both conveying trolley to target position and suppressing payload sway. In this paper, assist control by emulating natural damping method is proposed. 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. Natural damping can achieve both trolley position convergence and payload sway suppression.",

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Position convergence and sway suppress method of overhead crane by emulating natural damping

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Keywords

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