適応同定機構を有する巻上げ式天井クレーンの制御

概要

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In this paper the design of a crane system which carries an unknown load weight beyond an obstacle in an optimal way is described. At the first stage of the control a load of unknown weight is wound up and an adaptive identifier estimates the unknown value from the input and output data of the winding mechanism. The identifier is designed to have only one unknown parameter so that quick convergence is obtained, which makes it applicable to practical systems. Then, the optimal regulator is used as a controller of the crane, where the optimal feedback gain is a function of the load weight and the estimated value is used. Using this controller, performances of the crane are achieved such that i) and unknown load is carried beyond and obstacle, ii) the crane is stopped at the destination with good accuracy and with no swing of the load, iii) the travel time is shortened. Thus, automatic and optimal operation of the crane system can be preformed without pre-information about the value of load. Details of the design method and the experimental results are given.
社団法人日本機械学会の論文
1988-08-25