Abstract
The rotary crane is widely used for transfer of a load in the construction site, the port, and so on. However, these tasks involve a problem such that the swing of the load by the acceleration and deceleration of a boom, the centrifugal force at the time of revolution movement, disturbance, and so on. This paper provides a system for controlling the load sway of a rotary crane using Two-Degree-of- Freedom (2-DOF) control. The 2-DOF control was realized by feedforward control using preshaping control and feedback control using H_∞ control. Taking the centrifugal force into account, the Straight Transfer Transformation (STT) Method was introduced, and the experiment proved the validity.
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