Sensorless oscillation control of a suspended load with flywheels

Koichi Nishimura, Toshiaki Tsuji, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


This study proposes a method of sensorless oscillation control of a suspended load. To suppress oscillation of a suspended load, we use flywheels as a control device. Reaction torque of flywheels is applied for the oscillation control. An angular velocity value of a suspended load must be acquired for the oscillation control. Therefore, a method to estimate the angular velocity value is indispensable. By conventional methods, the estimation and the oscillation control cannot be realized simultaneously in case of one flywheel. Hence, inertia torque observer is proposed. Inertia torque appears as a disturbance torque on flywheels when a suspended load is oscillating. The angular velocity value is calculated based on this inertia toque. By using inertia torque observer, estimation of the angular velocity value and oscillation control of a suspended load are achieved at the same time.

Original languageEnglish
Pages (from-to)1119-1125
Number of pages7
Journalieej transactions on industry applications
Issue number8
Publication statusPublished - 2006


  • Crane
  • Disturbance observer
  • Flywheel
  • Oscillation control
  • Suspended load

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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