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Modelling and control of a rotary crane with a flexible joint
Author(s) -
Yoshimoto Tadashi,
Sakawa Yoshiyuki
Publication year - 1989
Publication title -
optimal control applications and methods
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.458
H-Index - 44
eISSN - 1099-1514
pISSN - 0143-2087
DOI - 10.1002/oca.4660100103
Subject(s) - control theory (sociology) , swing , boom , joint (building) , transfer (computing) , computer science , rotation (mathematics) , control (management) , control engineering , engineering , structural engineering , mechanical engineering , artificial intelligence , environmental engineering , parallel computing
A dynamical model is derived for the control of a rotary crane, which has a flexible joint and 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 the transfer the swing of the load decays as quickly as possible. A new open‐loop plus feedback control scheme is proposed.