TY - JOUR
T1 - Gain-scheduled positioning control for varying rope length in travelling cranes
AU - Nishimura, Hidekazu
AU - Tanemura, Hideaki
AU - Nonami, Kenzo
PY - 1996/1/1
Y1 - 1996/1/1
N2 - 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.
AB - 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.
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U2 - 10.1299/kikaic.62.2692
DO - 10.1299/kikaic.62.2692
M3 - Article
AN - SCOPUS:0030181163
VL - 62
SP - 2692
EP - 2698
JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
SN - 0387-5024
IS - 599
ER -