荷位置情報に基づく3次元天井クレーンのモデリングと搬送制御 : 第2報, ローブ長変化を考慮した荷位置フィードバック制御系の構築

概要

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An overhead traveling crane system has been largely used as one of the most vital transfer elements. This research presents the modeling and control of an overhead traveling crane in a three dimensional (3-D) complex transfer trajectory including hoisting motion and curve trajectory. In the present report, we describe a system design which can resolve the trade-off relationship between tracking the reference trajectory and suppressing the sway of the object, and can achieve an effective control system for the change in rope-length of the crane system during the hoist/lower motion. In this design, the 3-D tracking control systems for the object position of a crane system in terms of a variable gain controller with fixed pole are independently oriented in the X and Y directions. The usefulness of the present approach is demonstrated through control simulations and experiments.
1998-12-25