542 切り換え型非干渉・単純適応制御手法による旋回クレーン系の振れ止め制御(位置決め・搬送機器の計測と制御)(OS.08 : 先端的・萌芽的制御技術とその応用)

概要

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This paper is concerned with an anti-sway control for rotary crane system. This rotary crane system is regarded as highly nonlinear two input and four output system involving interactions between inputs and outputs. Here we treat positioning control and anti-sway control of a rotary crane. For that purpose we propose a new control algorithm combining switching-type nonlinear decoupling control with simple adaptive control for each system. The control system then results in linear two input two output positioning system and linear two input two output anti-sway system by the effect of decoupling control and the control accuracy is assured by simple adaptive control. These two control systems are switched by the criterion concerning the specified amount of sway. The effectiveness of the proposed new control method is confirmed through experimental results.
一般社団法人日本機械学会の論文
2001-08-03