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

Toshiyuki Kurabayashi, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish
Title of host publication2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages610-615
Number of pages6
ISBN (Print)9781479923243
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 142014 Mar 16

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
CountryJapan
CityYokohama
Period14/3/1414/3/16

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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

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