• Journal of Power System Engineering
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• v.2 no.2
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• pp.41-46
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• 1998

This paper presents the vibration control for the two degree-of-freedom which is a reduced model of multi-layer structure. This reduced model is designed for the first and second order resonance in the low frequency domain where the disturbance such as the earth quake has the large energy. And a designed controller using the LQ type $H_{\infty}$ control theory shows the good performance for the impulse disturbance through the experimental results and the simulation results respectively.

• Journal of Power System Engineering
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• v.12 no.6
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• pp.50-55
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• 2008

In general, the swing motion of the crane is controlled and suppressed by activating the trolley motion. In many papers reported by us, we suggested a new type of anti-sway control system of the crane. In the proposed control system, a small auxiliary mass(moving-mass) is installed on the spreader and the swing motion is controlled by moving the auxiliary mass. The actuator reaction against the auxiliary mass applies inertial control forces to the container in order to reduce the swing motion in the desired manner. Futhermore the measuring systems based on image sensor have been proposed also. To obtain the robustness for our control system, $H_{\infty}$ based control techniques and other approach have been applied to suppress swing motion. As well known, the robust control technologies based on $H_{\infty}$ control need complicated and difficult process. In the result, the obtained closed-loop system becomes to high order system which may give us many difficulties to apply it to the real plants. Therefore, we introduce an easy approach which is based on LQ control theory. In this approach, we introduce the frequency dependent weighting matrices which give the system filters to shape frequency characteristics of the controlled system and guarantee the control performance.