A Flexible Rope Crane Control Method

摘要

In modern industry, bridge cranes are a class of common tools for cargo handling and transportation, such as docks and production workshops. The efficiency of bridge cranes determines that of industry productions; therefore, it is particularly important to realize precise control of such systems. An effective control scheme is designed for flexible rope cranes in this work. We first establish the complex dynamics of flexible rope cranes. Considering the fact that the system is passive, which is proven by strict mathematical analysis, a controller is designed for flexible rope bridge crane systems. Simulations are included for verification.