ロープ長変化を考慮した走行クレーンの振れ止め制御

概要

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On the trolly crane with a sensor of swing angle, a swing pendulum control with variable rope length was realized by adjusting trolly speed. This operation consisted of 3 periods, which is the hoisting up and acceleration speed period, the constant rope length and constant speed period, and the hoisting down and deceleration speed period. We reduced a swing at constant speed period by adding constant speed time for the hoisting up and acceleration speed period. And we controlled a swing at stop point, by feedback control for the constant rope length and constant speed period, and by feedfoward control for the hoisting down and deceleration speed period. According to above method, we could be satisfied with the practical accuracy (under 0.003 rad) swing at stop point, if initial condition of swing was large, too.
一般社団法人日本機械学会の論文
1999-05-25