Abstract
This paper presents a vibration control method for a wire with time-varying length such as an elevator cable and a crane wire. The characteristics of moving wire are varying with time. When the wire is approximately modeled with such a method as FEM, it is possible to cause a spillover due to the ignored high order modes. Therefore, the robustness for the variation of tension, spillover of high order modes and rapid change of disturbance is important and a robust nonstationary control method is proposed by applying nonstationary H-infinity control theory in this study. For the moving wire such as crane string and elevator cable, it is possible to reduce the vibration by using only a nonstationary robust controller for the case that the mass at the tip of wire changes its weight, that is, the tension of wire varies. The robust controller then is designed based on a lower order model of wire with the frequency weightings. As a result, in the numerical calculations we show the robustness and the usefulness of the robust controllers are shown.
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