Vibration Suppressing Control of Flexible Rotary Crane Using Tip Position Sensor
Yoshio Tanaka, Yasuo Yoshida, Tetsushi Ueta* and Hiroshi Kawakami*
Government Industrial Research Institute, Shikoku 2-3-3 Hananomiya, Takamatsu 761, Japan
*Faculty of Engineering, Tokushima University 2-1 Minami-Josanjima, Tokushima 770, Japan
For vibration suppressing control of flexible rotary cranes, two control methods by the use of a tip position sensor have been proposed. One is a control system that suppresses transient vibrations generated by the impact of switching of driving speeds when Bang-Bang control, open-loop anti-swing control, is completed. The other is a servo system to which vibration suppressing feedback is added. Experiments have confirmed that either system is remarkably effective in suppressing vibration.