Gain-Scheduling Approach to Mass Damper Type Anti-Sway System Design
| Authors: | Kim Youngbok, Pukyong National University, Korea, Republic of
Kim Dongkyu, Pukyong National University, Korea, Republic of
Zhai Guisheng, Osaka Prefecture University, Japan
Jang Jiseong, Pukyong National University, Korea, Republic of |
|---|
| Topic: | 4.2 Mechatronic Systems |
|---|
| Session: | Mechatronic Applications |
|---|
| Keywords: | mass damper type, swing motion control, container crane, trolley motion control strategy, anti-sway system, gain-scheduling |
|---|
Abstract
In this paper, we consider a mass damper type of swing motion control system for a crane in which a small auxiliary mass is installed on the spreader. The actuator reacting against the auxiliary mass applies inertial control forces to the spreader of the container crane to reduce the swing motion in the desired manner. In this paper, we consider that the length of the rope is varied in the specified range and we design the anti-sway control system based on gain-scheduling approach. And, we investigate usefulness of the proposed anti-sway system and evaluate system performance from experimental study.
