The vibration suppression control of the arm type crane

摘要

In recent years, light weight cranes is desired. But to keep the stiffness' of the crane, the weight is not decreased. Using an active control of vibration, the weight of arm type crane can be decreased. In this report, we proposed the method to control the arm type crane to suppress the vibration. The process of this method is as follows. At first, the dynamic equation of a crane and its payload with the wire. secondly, using optimal control theorem the conditional feedback loop is designed. Thirdly to control the posture of the crane, angle and angle velocity control is applied. Finally these optimal control parameter is fluctuated by the change of the crane. To calibrate this, the parameter is changed by the controlelr along the change of the crane.