From modeling to robust control design of single-mast stacker cranes

Sándor Hajdu, P. Gáspár

Research output: Contribution to journalArticle

5 Citations (Scopus)

Abstract

The paper presents the reduction of mast-vibration of single-mast stacker cranes by using a robust controller. During non-stationary movement undesirable mast vibrations may occur. These vibrations can reduce the positioning accuracy of the machine. The aim of this paper is to present the design procedure from the dynamic modeling to robust control design, in which accurate signal tracking and mast-vibration attenuation are guaranteed. The dynamic modeling of single-mast stacker cranes by means of multi-body modeling approach is summarized. The handling of varying dynamic behavior due to varying lifted load position is presented. For control design purposes the order of the model is reduced. Based on the modeling technique an appropriate robust H controller design method is applied. The trade-off between accurate reference signal tracking and mast-vibration attenuation is presented through demonstration example.

Original languageEnglish
Pages (from-to)135-149
Number of pages15
JournalActa Polytechnica Hungarica
Volume11
Issue number10
Publication statusPublished - 2014

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Cranes
Robust control
Controllers
Demonstrations

Keywords

  • Multi-body modeling
  • Robust H control
  • Stacker cranes

ASJC Scopus subject areas

  • General
  • Engineering(all)

Cite this

From modeling to robust control design of single-mast stacker cranes. / Hajdu, Sándor; Gáspár, P.

In: Acta Polytechnica Hungarica, Vol. 11, No. 10, 2014, p. 135-149.

Research output: Contribution to journalArticle

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