Wave Control of Rope and Payload System by Using Virtual Multiple Pendulums System

摘要

This paper deals with the wave absorbing control of the suspended pendulums system by the lateral motion of the support. The control acceleration of the support has been derived by the connecting condition of the real pendulums to the wave-controlled multiple simple pendulums virtually existed above the support. The wave propagating solution of the homogeneous multiple simple pendulums system has been theoretically derived and applied to the virtual pendulums system. The position and velocity feedback control of the support is added to the support acceleration for wave control because the wave control could not fix the support position. This control is able to transfer the final support position to other than the original position. The experiments of pendulum systems, three homogeneous rigid pendulums system and rope-and-mass system, have been conducted. From the simulation and experiment, our presented control strategy has been shown to be enough effective and practical for real crane systems.