DocumentCode
2189597
Title
Anti-sway and position control of crane system
Author
Hakamada, Yoshimi ; Nomura, Masakatsu
Author_Institution
Meidensya Corp. Product Dev. Lab., Tokyo, Japan
Volume
2
fYear
1996
fDate
18-21 Mar 1996
Firstpage
657
Abstract
We developed a new crane control system that has an accurate position control function with anti-sway of the hung object. The control system consists of two blocks. One is for anti-sway control, and the other is for position control. Each output of the control blocks is calculated individually based on a proposed method and serves as a velocity reference for a trolley of the crane. The anti-sway control we realized was based on the simple impedance control method. The position control is carried out by following the pattern that is calculated so that the trolley stops smoothly at the predetermined standstill position. We confirmed the effect of this controller through experiments
Keywords
cranes; materials handling; position control; velocity control; anti-sway control; crane system; impedance control method; position control; trolley; velocity reference; Automatic control; Computer aided instruction; Control systems; Cranes; DC motors; Laboratories; Position control; Product development; Velocity control; Wire;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Motion Control, 1996. AMC '96-MIE. Proceedings., 1996 4th International Workshop on
Conference_Location
Mie
Print_ISBN
0-7803-3219-9
Type
conf
DOI
10.1109/AMC.1996.509326
Filename
509326
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