Damping Control of Suspended Load for Truck Cranes in Consideration of Second Bending Mode Oscillation

Watanabe, Kenta; Yoshikawa, Mami; Ishikawa, Jun

doi:10.1109/iecon.2018.8591232

Cited by 6 publications

(1 citation statement)

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“…Although control methods for oscillating objects are known, especially in the case of linear objects, they relate to objects with parameters significantly different from these (small) drones and apply to objects, analysed in terms of sensitivity to a completely different type or range of disturbances. Such typical oscillatory objects known from the literature are, for example, trains, trucks, gantries, and cranes [1][2][3]. The issue of altitude control in the field of low altitude is particularly important due to the strong impact of the ground effect and disturbances caused by air turbulence caused by obstacles and the influence of air currents.…”

Section: Introductionmentioning

confidence: 99%

Archives of Electrical Engineering

Urbański

2021

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The paper presents the results of simulations and experiments in the field of control of the low damping and time delay oscillating system. This system includes a quadcopter hovering at a very low altitude, and the altitude is controlled. The time delay is introduced mainly by the remote control device. In order to handle the quadcopter at low altitudes, a proportional-integral controller with a negative proportional coefficient is used. Such an approach can provide good results in the case of an oscillating, low damped system. This method of steering, which uses a typical radio control transmitter, can be used on any commercially available leisure drone. Feedback is provided by a camera and algorithms of computer vision. The presented results were obtained experimentally using free flight -without a harness. Different types of controllers are used to control horizontal shift and altitude.

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Section: Introductionmentioning

confidence: 99%