吊り荷振れ角センサを用いないタワークレーンの制御 : 誤差学習による終端状態制御を用いた2自由度制御 : 機械力学,計測,自動制御

概要

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This paper deals with control of a crane mounted on a tower-like flexible structure called the "Tower crane" by using no sensor for the load-rope angle, since it is difficult to put the sensor on a real tower crane. We make its models and design the two-degree-of-freedom control system. The feedback controller that does not use the sway angle signal is designed by considering the coupling between the load sway and the crane itself. The feedforward input is designed by the final-state control method with error learning. By experiments it is verified that the 2 DOF controller without the sensor for the load-rope angle has almost same performance as the feedback controller alone with the sensor.
一般社団法人日本機械学会の論文
2001-04-25