<abstract xmlns="http://www.w3.org/1999/xhtml"><p> In the frame structure of stacker cranes harmful mast vibrations may appear due to the inertial forces of acceleration or the braking movement phase. This effect may reduce the stability and positioning accuracy of these machines. Unfortunately, their dynamic properties also vary with the lifted load magnitude and position. The purpose of the paper is to present a controller design method which can handle the effect of a varying lifted load magnitude and position in a dynamic model and at the same time reveals good reference signal tracking and mast vibration reducing properties. A controller design case study is presented step by step from dynamic modeling through to the validation of the resulting controller. In the paper the dynamic modeling possibilities of single-mast stacker cranes are summarized. The handling of varying dynamical behavior is realized via the polytopic LPV modeling approach. Based on this modeling technique, a gain-scheduled controller design method is proposed, which is suitable for achieving the goals set. Finally, controller validation is presented by means of time domain simulations.</p></abstract>

In the frame structure of stacker cranes harmful mast vibrations may appear due to the inertial forces of acceleration or the braking movement phase. This effect may reduce the stability and positioning accuracy of these machines. Unfortunately, their dynamic properties also vary with the lifted load magnitude and position. The purpose of the paper is to present a controller design method which can handle the effect of a varying lifted load magnitude and position in a dynamic model and at the same time reveals good reference signal tracking and mast vibration reducing properties. A controller design case study is presented step by step from dynamic modeling through to the validation of the resulting controller. In the paper the dynamic modeling possibilities of single-mast stacker cranes are summarized. The handling of varying dynamical behavior is realized via the polytopic LPV modeling approach. Based on this modeling technique, a gain-scheduled controller design method is proposed, which is suitable for achieving the goals set. Finally, controller validation is presented by means of time domain simulations.

Reducing the mast vibration of single-mast stacker cranes by gain-scheduled control

Department of Mechanical Engineering University of Debrecen, H-4028, Ótemető u. 2–4, Debrecen,

Systems and Control Laboratory, Institute for Computer Science and Control Hungarian Academy of Sciences, H-1111, Kende u. 13–17, Budapest,

International Journal of Applied Mathematics and Computer Science

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

In the frame structure of stacker cranes harmful mast vibrations may appear due to the inertial forces of acceleration or the braking movement phase. This...

Reducing the mast vibration of single-mast stacker cranes by gain-scheduled control

Article Category: Individual Article Information

Publié en ligne: 30 déc. 2016

Pages: 791 - 802

Reçu: 13 sept. 2015

Accepté: 10 août 2016

DOI: https://doi.org/10.1515/amcs-2016-0056

© by Sándor Hajdu

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.