Vibration Control of Suspended Load System by Bias Momentum Method

Motion control suppressing the swaying and rotation of the loads is often required for handling suspended load systems such as cranes, ropeway gondolas, or balloon gondolas. In this study, a new vibration control method using bias momentum attitude control is proposed. This control method utilizes a momentum wheel and a reaction wheel. Bias angular momentum stored on the momentum wheel induces dynamic coupling, and torsional vibration and swaying vibration of the suspended load can be suppressed by only two degree-of-freedom control torques. This paper reports the concept of the proposed vibration control method, derivation of the kinematic model, and design of control laws based on Lyapunov functions. Development of the experimental device and the numerical simulation studies are also described briefly.