Positioning and swing-rotation vibration suppression control of a suspended cargo container

Positioning and swing-rotation coupling vibration suppression of a cargo container are studied. The cargo container is modeled as a rectangular rigid body suspended by four ropes from the trolley, traveling to the target position. The motion of the cargo container is analyzed and controlled, using the trolley with feedback traveling and an inertia rotor mounted on the cargo container. Eccentric loading causes swing-rotation coupling vibration and the control results are presented with experiments and simulations.