Wave control of crane rope-and-mass system

This paper deals with the wave absorbing control of a suspended simple pendulum system by the lateral motion of the support. The control acceleration of the support was derived by the connecting condition of real pendulums to the wave-controlled multiple simple pendulums virtually existing above the support. The wave propagating solution of the homogeneous multiple simple pendulum system was theoretically derived and applied to the virtual pendulum system. The velocity and position feedback control of the support was added to the support acceleration for wave control because the wave control could not fix the support position. This control can place the support at other than the original position. The experiments of a three homogeneous rigid pendulum system and a rope-and-mass system were conducted. The rope-and-mass experimental system has the function of winding up and down of load mass. The effect of the virtual pendulum length on the wave control was also investigated. From the simulation and experiment, our presented control strategy was shown to be effective enough and practical for real crane systems.