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

Other

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

Fingerprint

Cranes
Damping
Conveying
Target
Energy
Damped
Friction
Safety
Operator

Keywords

  • Anti swinging control
  • Crane
  • operator assist
  • robust control
  • Underactuated system

ASJC Scopus subject areas

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

Cite this

Kurabayashi, T., & Murakami, T. (2014). Position convergence and sway suppress method of overhead crane by emulating natural damping. In International Workshop on Advanced Motion Control, AMC (pp. 610-615). [6823351] 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.

International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. p. 610-615 6823351.

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

Kurabayashi, T & Murakami, T 2014, Position convergence and sway suppress method of overhead crane by emulating natural damping. in International Workshop on Advanced Motion Control, AMC., 6823351, 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
Kurabayashi T, Murakami T. Position convergence and sway suppress method of overhead crane by emulating natural damping. In International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc. 2014. p. 610-615. 6823351 https://doi.org/10.1109/AMC.2014.6823351
Kurabayashi, Toshiyuki ; Murakami, Toshiyuki. / Position convergence and sway suppress method of overhead crane by emulating natural damping. International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 610-615
@inproceedings{71f9a53753e847f3af9b0dac8cf15b90,
title = "Position convergence and sway suppress method of overhead crane by emulating natural damping",
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.",
keywords = "Anti swinging control, Crane, operator assist, robust control, Underactuated system",
author = "Toshiyuki Kurabayashi and Toshiyuki Murakami",
year = "2014",
doi = "10.1109/AMC.2014.6823351",
language = "English",
isbn = "9781479923243",
pages = "610--615",
booktitle = "International Workshop on Advanced Motion Control, AMC",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - GEN

T1 - Position convergence and sway suppress method of overhead crane by emulating natural damping

AU - Kurabayashi, Toshiyuki

AU - Murakami, Toshiyuki

PY - 2014

Y1 - 2014

N2 - 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.

AB - 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.

KW - Anti swinging control

KW - Crane

KW - operator assist

KW - robust control

KW - Underactuated system

UR - http://www.scopus.com/inward/record.url?scp=84903202433&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84903202433&partnerID=8YFLogxK

U2 - 10.1109/AMC.2014.6823351

DO - 10.1109/AMC.2014.6823351

M3 - Conference contribution

AN - SCOPUS:84903202433

SN - 9781479923243

SP - 610

EP - 615

BT - International Workshop on Advanced Motion Control, AMC

PB - Institute of Electrical and Electronics Engineers Inc.

ER -