Abstract
The paper presents the reduction of mast-vibration of single-mast stacker cranes by using a robust controller. During non-stationary movement undesirable mast vibrations may occur. These vibrations can reduce the positioning accuracy of the machine. The aim of this paper is to present the design procedure from the dynamic modeling to robust control design, in which accurate signal tracking and mast-vibration attenuation are guaranteed. The dynamic modeling of single-mast stacker cranes by means of multi-body modeling approach is summarized. The handling of varying dynamic behavior due to varying lifted load position is presented. For control design purposes the order of the model is reduced. Based on the modeling technique an appropriate robust H∞ controller design method is applied. The trade-off between accurate reference signal tracking and mast-vibration attenuation is presented through demonstration example.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.