横行クレーンのサーボ形ふれ止め制御

概要

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Rationalization for a container yard is achieved through the automation of both container yard management and handling machines, in which the automation of container cranes has been developed to correspond to the IV th-generation container crane. One of the most important engineering points for the automation of container cranes is antisway control which has been studied for long periods from many directions, by many people. The first type of antisway control was one which used PID control method by analogue circuits. The second type was mechanical antisway control which have been the main method up to now. However, recently several new electrical antisway methods have been studied and developed with the progress of computer technology. The first of these was the pattern control method using the minimum time control theory. The second was the regulator control method. We have developed the servo-type antisway control method using regulator theory, which has good functions and characteristics. Our new control method is presented in this paper which includes modelling, and simulation and experimental results.
社団法人日本機械学会の論文
1995-02-25