Jib crane control to suppress load swing |
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| Authors: | KEI HARA TETSUHIKO YAMAMOTO AKIRA KOBAYASHI MAKOTO OKAMOTO |
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| Affiliation: | 1. Faculty of Engineering, Doshisha University , Kamigyoku, Kyoto 602, Japan;2. Faculty of Engineering, University of the Ryukyus , Nishiharacho, Okinawa 903-01, Japan;3. Matsushita Electric Industrial Company , Kadoma 571, Japan;4. Tsuruga Plant, Toyobo Co., Ltd , Toyocho, Tsuruga 914, Japan |
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| Abstract: | The simulation of a jib crane control strategy is reported which transfers a load under the condition of suppressing the load swing both in the transfer process and at the objective position, making the transfer time as short as possible. A non-linear dynamic equation of the load in a jib crane motion is derived. By linearizing the equation and giving a cost function of the second order, the control problem becomes LQ-type with control constraint u. Computer simulations show that this control strategy is able to suppress the load swing by the extending or shrinking motion of the boom. |
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