慣性ロータを用いた剛体吊り荷の回転と揺れの防止制御(機械力学,計測,自動制御)

概要

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This paper describes rotational control and swing suppression of a crane suspended load model. A rotational free rigid body suspended by a single rope is controlled using three inertia rotors. Fiber optical gyros installed on the suspended load are used to measure the load orientation angles. Controlling angles and angular velocities are obtained from measured data using the conversion between zxy and zxz Euler angles and the driving system of the inertia rotors are developed based on the coupling dynamics. Experiments and simulations show that the rotational orientation is controlled without problems, but swing control is possible under some limit conditions of the load mass size and the rope length, since the gravity force act on the swing motion.
一般社団法人日本機械学会の論文
2003-01-25