Vibration control of a traveling suspended system using wave absorbing control

This paper describes vibration control of a suspended system using a wave absorbing method. Here, we treat a system that accepts a traveling command. This system is called a traveling system. In the previous paper we treated a system that performs only the vibration control, where the support of the suspended system moves only for vibration control and eventually settles at the original position. This system is called a nontraveling system. In a traveling system, the support moves both for traveling and for vibration control. We present a new control strategy for these two different aims by applying the vibration control method developed in the previous paper A traveling multiple-pendulum system and a traveling wire-and-load system are treated. The wire-and-load system has a small rigid pendulum between the support and the wire. The vibration control is performed by monitoring this small rigid pendulum. The wire-and-load system is extended to a model crane system that has a motor system to roll up and down the suspended mass like a real crane. The same program with different parameter values controls these three systems. Both numerical simulation and experiment have been conducted, and the developed control method has been shown to be quite effective.