Experimental Verification on the Rotational and Sway Control of a Suspended Horizontally Movable Multi-Rotor

Abstract

Suspending and transporting a load is met in many situations. However, it has been regarded as a problem because it leads to a decrease in work efficiency and an accident if the load is oscillated or rotated during transportation due to disturbances caused by winds or operational errors. As a countermeasure to this problem, a method for controlling sway and rotation with a suspending machine has been studied. However, such a method can only control swaying and not rotation, and are not applicable to all transport machines or aircrafts. Therefore, in this research, it is aimed at controlling the tip of the wire directly by using a horizontally movable multi-rotor, which is applicable to all types of suspending machines or aircrafts and can control the rotation as well as the swing. Then, a rotational control experiment and a sway control experiment are conducted using the developed horizontally movable multi-rotor to verify its usefulness for the sway and rotational motions.