Minimum Time Control using Straight Transfer for a Rotary Crane
| Authors: | Shen Ying, Toyohashi University of Technology, Japan
Terashima Kazuhiko, Toyohashi University of Technology, Japan
Yano Ken'ichi, Gifu University, Japan |
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| Topic: | 7.4 Transportation Systems |
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| Session: | Transportation Systems I |
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| Keywords: | Rotary crane, Modelling, Nonlinear optimum control, Vibrationcontrol, Minimum time control, Preshaping control |
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Abstract
This paper provides a feedforward control method for controlling the load vibration of a rotary crane using a straight transfer transformation (STT) model. The parameters of the model were geometrically derived. The minimum time control problem was solved for the revised STT model by means of both clipping-off technique for the constraints of control inputs amplitude and the Bisection Method. Preshaping control method is also discussed for comparison with proposed minimum time control. Finally, proposed control method using the STT model was demonstrated to be effective in eliminating the influence of centrifugal force through simulation and experiments.
