Vibration Suppression Feedforward Control Using Active Mass Damper for Stacker Crane

The high-speed operation of the stacker crane used in automated storage and retrieval systems is important for improving the efficiency of the entire warehouse. However, to achieve high-speed operation, it is necessary to reduce the excessive natural vibrations that occur during operation. To address this problem, this study proposes a vibration suppression feedforward control for an active mass damper (AMD). The objective of the proposed control method is to match the carriage acceleration of the stacker crane with the travel unit acceleration to avoid excessive vibrations in the stacker crane. This study introduces a method to realize this feedforward control and experimentally evaluates the performance of the proposed method using a test bench machine of a stacker crane.