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

Hidekazu Nishimura, Hideaki Tanemura, Kenzo Nonami

研究成果: Article

9 引用 (Scopus)

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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.

元の言語English
ページ(範囲)2692-2698
ページ数7
ジャーナルNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
62
発行部数599
DOI
出版物ステータスPublished - 1996 1 1
外部発表Yes

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ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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