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.
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