Frequency-shaped Linear Quadratic Control Approach to Anti-sway System Design

Abstract

In this paper, a crane controller design approach for anti-sway system is studied. To reduce the swing motion of container in desired area, we use a small auxiliary mass which is installed on the spreader, such that the actuator reacting against the auxiliary mass applies inertial control forces. In this study, we apply the Frequency-shaped Linear Quadratic control approach to anti-sway control system design problem. The frequency-shaped approach can be carried a step further by augmenting the plant with frequency-shaped filters so as to penalize their outputs in addition to other cost terms in the performance index. A considerable magnitude reduction in the resonances frequency range is obtained by introducing frequency dependent weighting functions. By using MATLAB program, we calculate and design controller for anti-sway system and evaluate system performance through simulation.