非線形コントローラを用いた旋回クレーンの振れ止め制御システム

概要

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In this paper, we report a new control system of Rotational Crane using a Non-linear controller, Up to this time, the control problem of such a system has been treated as the problem by using a linear model. However, the control system designed by this method could not show the good performance. In general, the Rotational Crane can be expressed as a non-linear dynamic system with infinite modes at high frequencies. So, we considered an approximate non-linear model having similar performance as the actual crane, and made the non-linear terms of this model to the control input, in order to convert the non-linear control problem to a linear one. In the simulation system, the controller was consisted by taking out again the non-linear factor from the control input, so as to be useful in the actual crane. The simulation results show us that this approach is effective for the control of a Rotational Crane. Our future objectives are to confirm the performace by experiments, to get a strict solution of the problem and to design a servo system.
東海大学の論文