最適制御を基本にした可変極指定法による走行クレーンの振れ止め制御

概要

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It is difficult to carry out the control with good control performance by the controller with fixed coefficient for all operating range of the crane, since the dynamic characteristics of the crane fluctuates by change of the rope length and change of the suspended load. In this paper, we propose a design method of control system by the state feedback system in which closed loop pole of control system becomes fixed values for the change of the rope length. And, it is clarified that the rope length does not affect transmission zero of transfer function through this research, and it is shown that the control characteristics can be freely decided even in the state feedback control system. In this proposed control system, though switching of the feedback gain are necessary, the excessive manipulated variable will be applied to the actuator system by the condition of the switching. Therefore, a method in which the feedback gain continuously changes is also proposed again in order to suppress the excessive manipulated variable. The effectiveness of proposed control method in this paper is confirmed by the simulation experiment, in addition, it was also confirmed from the experiment on anti-sway control of actual traveling crane.
東海大学の論文