Modeling and Transferring Control of an Overhead Traveling Crane based on the information of Object Position. 2nd Report. Design of Object-Position Feedback Controller Considering the Change of Rope-Length.

Abstract

An overhead traveling crane system has been largely used as one of the most vital transfer elements. This research presents the modeling and control of an overhead traveling crane in a three dimensional (3-D) complex transfer trajectory including hoisting motion and curve trajectory. In the present report, we describe a system design which can resolve the trade-off relationship between tracking the reference trajectory and suppressing the sway of the object, and can achieve an effective control system for the change in rope-length of the crane system during the hoist/lower motion. In this design, the 3-D tracking control systems for the object position of a crane system in terms of a variable gain controller with fixed pole are independently oriented in the X and Y directions. The usefulness of the present approach is demonstrated through control simulations and experiments.