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2016 | 26 | 4 | 791-802
Tytuł artykułu

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

Treść / Zawartość
Warianty tytułu
Języki publikacji
EN
Abstrakty
EN
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.
Słowa kluczowe
Rocznik
Tom
26
Numer
4
Strony
791-802
Opis fizyczny
Daty
wydano
2016
otrzymano
2015-09-13
poprawiono
2016-03-09
zaakceptowano
2016-08-10
Twórcy
  • Department of Mechanical Engineering, University of Debrecen, H-4028, Ótemető u. 2-4, Debrecen, Hungary
  • Systems and Control Laboratory, Institute for Computer Science and Control, Hungarian Academy of Sciences, H-1111, Kende u. 13-17, Budapest, Hungary
Bibliografia
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Typ dokumentu
Bibliografia
Identyfikatory
Identyfikator YADDA
bwmeta1.element.bwnjournal-article-amcv26i4p791bwm
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