旋回および起伏操作時のトラッククレーンの吊り荷のファジィ制御

概要

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This paper is concerned with vibration control of a suspended load and boom angle compensation of a truck crane in operation. Vibrations in both swing and elevating direction must be considered at the same time to reduce sway angle completely. Because the sway angle in both direction are closely coupled, and the sway in radial direction occurs in swing operations by centrifugal force. And besides, the boom angle deviations arise from sways control, so the compensations must be considered with the sway controller. In this study, the sways and the boom angle deviations in elevating and swing motions are also controlled by the fuzzy reasoning. There is a specific velocity pattern which is used natural period of the wire rope to reduce oscillations of the load in swing and elevating operation. Therefore, the sways of a suspended load are reduced and the angle errors are compensated by the fuzzy control.
一般社団法人日本機械学会の論文
1998-10-25