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Paper details
Number 4 - December 2016
Volume 26 - 2016
Reducing the mast vibration of single-mast stacker cranes by gain-scheduled control
Sándor Hajdu, Péter Gáspár
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.
Keywords
robust control, LPV systems, gain-scheduling, stacker cranes