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SWAY CONTROL EXPERIMENT OF ROTARY CRANE USING LINEAR TRANSFER TRANSFORMATION MODEL
Ying Shen*, Kenji Eguchi*, Kensuke Suzuki**, Ken’ichi Yano *and Kazuhiko Terashima*
* Dept. of Production Systems Engineering
Toyohashi University of Technology
Hibarigaoka 1-1, Tempaku-cho, Toyohashi, 441-8580 Japan
FAX : +81-532-44-6690
E-mail : shen, yano, terasima@procon.tutpse.tut.ac.jp
** Shiko Electric Co., Ltd.
150 Motoyakiki, Sanya-cho, Toyohashi, Japan
This paper presents a method to control the sway of a rotary crane by using a linear transfer transformation (LTT) model. The LTT model is built and its parameters are geometrically derived. Optimal control of a rotary crane is presented using an optimization method of Fletcher-Reeves so that the load has no sway at the end point of the transfer. The effectiveness of the proposed control method in the LTT model is demonstrated through simulation and experiments.
Keywords: Crane; Modeling; Optimal control; Vibration control
Session slot T-Th-M21: Posters of Design Methods and Optimal Control/Area code 2d : Optimal Control
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