Modeling and Control of a Rotary Crane

[+] Author and Article Information
Y. Sakawa

Department of Control Engineering, Osaka University, Toyonaka, Osaka 560, Japan

A. Nakazumi

Electronics Technology Center, Kobe Steel, Ltd., Gomo, Nada-ku, Kobe 657, Japan

J. Dyn. Sys., Meas., Control 107(3), 200-206 (Sep 01, 1985) (7 pages) doi:10.1115/1.3140721 History: Received June 06, 1985; Online July 21, 2009


In this paper we first derive a dynamical model for the control of a rotary crane, which makes three kinds of motion (rotation, load hoisting, and boom hoisting) simultaneously. The goal is to transfer a load to a desired place in such a way that at the end of transfer the swing of the load decays as quickly as possible. We first apply an open-loop control input to the system such that the state of the system can be transferred to a neighborhood of the equilibrium state. Then we apply a feedback control signal so that the state of the system approaches the equilibrium state as quickly as possible. The results of computer simulation prove that the open-loop plus feedback control scheme works well.

Copyright © 1985 by ASME
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