タワークレーンの吊り荷ロープ長変動に対する起伏・旋回方向のゲインスケジュールド分散制御 : 操縦者の任意指令に対応する制御系設計(機械力学,計測,自動制御)

概要

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A crane mounted on a tower-like flexible structure called the 'Tower crane' has a problem that a fast transfer of the load causes the sway of the load and the vibration of the flexible structure. Furthermore, if the length of the load rope varies, it is difficult to control by the fixed compensator, because the natural frequency of the load rope and gain of the plant to control input vary also. This paper discusses the control design considering operator command with varying load-rope length. A two degree-of-freedom control system is designed, which is consists of the feedforward controller by using a command-shape filter and the gain-scheduled controller considering varying load-rope length. From the results of the experiment, it is shown that the work efficiency is increased by using our proposed control system.
社団法人日本機械学会の論文
2003-04-25