Journal
ADVANCES IN MECHANICAL ENGINEERING
Volume 8, Issue 3, Pages -Publisher
SAGE PUBLICATIONS LTD
DOI: 10.1177/1687814016641819
Keywords
Rotary crane; motion control; load vibration reduction; optimal control
Categories
Funding
- National Natural Science Foundation of China [51277092]
- Natural Science Foundation of Jiangsu Province [BK20130938]
- Natural Science Foundation of the Jiangsu Higher Education Institutions of China [14KJB510013]
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In the control of the rotary crane, it is important to consider the trade-off between the boom positioning characteristics and the sway of the load. However, it seems difficult to obtain good control performance in both of them using 1-degree-of-freedom control approach. Therefore, a robust 2-degree-of-freedom control approach is proposed in this article. First, a linear dynamic model of a rotary crane is derived using a disturbance observer. Next, a state feedback controller with integrator is designed based on the model, and controller gains are determined by using linear matrix inequality optimization for achieving robustness with respect to rope length variance. Then, a feedforward controller is designed by solving an optimal regulator problem based on the model of closed-loop system for improving the boom positioning characteristics of the crane. Finally, the experimental results confirm the effectiveness of the proposed method. Hence, the crane can be easily operated without sensor systems for measuring rope length, and consequently, the structure of the crane can be simplified and implementation cost can be reduced.
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