ノルム拘束を有するシステムの制御 : 旋回クレーンへの適用

概要

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The basic motions of the slewing crane as construction machines are classified into cargo windup, boom derricking and boom slewing. The purposes of controlling the crane are to transfer to the target point the cargo as quickly as possible with suppressing the swaying and to quickly minimize the residual sway at the target point. At present, crane operation depends on the skill and sense of the operator, so its automatic operation is desirable from the standpoint of economy and safety. Methods based on an optimum reference pattern of suppressing the swaying and the feedback control system using a linear approximation around θ=0 are known until now. However, these methods are not effective for disturbance such as wind. So, we have developed a method using a non-linear controller and have got remarkable effects experimentally. ln this paper, firstly we report the theory on the system which has norm constraint, and secondly the application to the rotary slewing crane.
東海大学の論文