Application of sampled-data control by using vibration manipulation function to suppress residual vibration of travelling crane

Abstract

Vibration manipulation function is applied as a feedforward function to suppress residual vibration of a hoisting load in one-dimensional overhead travelling crane. The system is modeled as a pendulum of one-degree-of-freedom (ODF) with enforced acceleration of a trolley. In case of small initial swing angle of the wire of the crane, the residual vibration of the load can be vanished by this method in one natural period. Although, in case of large initial angle, certain amount of residual vibration remains, it can be eliminated by repeated enforce acceleration of trolley under vibration manipulation function with sampled-data control in every natural period. Some examples of numerical simulation are shown to use vibration manipulation function in crane operation. The residual vibration of the load can be suppressed in any time of crane work, as far as the trolley travels in constant speed including static position at the beginning of operation. This analytic feedforward function could be used for automatic carne machine or tutoring software for operator's training.