Optimal Control of Rotary Crane Using the Straight Transfer Transformation Method to Eliminate Residual Vibration

摘要

This paper presents a model based on the load position of a rotary crane, validated by experimental results. Specifically, it provides a method for controlling the sway of a rotary crane using a straight transfer transformation (STT) model. The STT model was built and its parameters were geometrically derived. Taking into account variations in rope length, the optimal control of a rotary crane for reduction of residual sway was solved using the Davidon-Fletcher-Powell (DFP) optimization method. The proposed control method using the STT model was demonstrated to be effective in eliminating the influence of centrifugal force through simulation and experiments.