振動抑制と目標値追従性を考慮したクレーンによる液体コンテナ搬送制御

概要

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In the casting and steel industry, a liquid-container crane system has been widely used for transferring molten metal from a furnace to a pouring process. The purpose of this study is to establish a control system of a liquid-container crane considering the suppression of liquid vibration (sloshing) and the tracking property to the final position. First, in order to achieve a practical control system, the fundamental characteristics of a liquid-container crane system, such as cart position, rod angle, tank angle and water level, have been analyzed by frequency response experiments. Secondly, a mathematical model of a liquid-container crane system has been built by adopting a system identification technique based on the above experimental results, and an optimal servo control system with a Kalman filter has been applied to the present system. We propose a method to determine a reference input and a control gain considering the transfer time, position control and sloshing control. Finally the usefulness of the approach presented in this paper is demonstrated through several control simulations and experiments.
一般社団法人日本機械学会の論文
1996-04-25