Control of a crane rope-and-mass system by wave absorption with support feedback control

Abstract

The present paper deals with the vibration control of a suspended simple pendulum system, namely, a model of a crane rope and a load mass, by the lateral motion of the support. Wave control of the acceleration of the support was derived based on the connecting condition of a real pendulum (rope and mass) to multiple wavecontrolled homogeneous simple pendulums that exist virtually above the support. Velocity and position feedback control of the support was added in order to position the support at other than the original position. During winding up or down of the load mass, the system becomes a non-homogeneous simple pendulum system and the wave propagation exhibits a kind of mode localization that reduces the vibration control performance. The feedback control canceled the mode localization and provided better control performance than the pure wave control. The effective feedback coefficients of systems during winding up and down of the load mass were investigated. Based on simulation and experimental results, the proposed control was demonstrated to be useful and practical for real crane systems.