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

Sándor Hajdu; Péter Gáspár

International Journal of Applied Mathematics and Computer Science (2016)

  • Volume: 26, Issue: 4, page 791-802
  • ISSN: 1641-876X

Abstract

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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.

How to cite

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Sándor Hajdu, and Péter Gáspár. "Reducing the mast vibration of single-mast stacker cranes by gain-scheduled control." International Journal of Applied Mathematics and Computer Science 26.4 (2016): 791-802. <http://eudml.org/doc/287181>.

@article{SándorHajdu2016,
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.},
author = {Sándor Hajdu, Péter Gáspár},
journal = {International Journal of Applied Mathematics and Computer Science},
keywords = {robust control; LPV systems; gain-scheduling; stacker cranes},
language = {eng},
number = {4},
pages = {791-802},
title = {Reducing the mast vibration of single-mast stacker cranes by gain-scheduled control},
url = {http://eudml.org/doc/287181},
volume = {26},
year = {2016},
}

TY - JOUR
AU - Sándor Hajdu
AU - Péter Gáspár
TI - Reducing the mast vibration of single-mast stacker cranes by gain-scheduled control
JO - International Journal of Applied Mathematics and Computer Science
PY - 2016
VL - 26
IS - 4
SP - 791
EP - 802
AB - 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.
LA - eng
KW - robust control; LPV systems; gain-scheduling; stacker cranes
UR - http://eudml.org/doc/287181
ER -

References

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