543 タワークレーンの吊り荷ロープ長変動を考慮した制御 : 線形分数変換によるパラメータ変動表現を用いたゲインスケジュールド制御(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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A crane mounted on a tower-like flexible structure called the 'Tower crane' has a problem that a fast transfer of the load causes the sway of the load and the vibration of the flexible structure. Furthermore if the length of the load rope varies, it is difficult to control by the fixed compensator, because the natural frequency of the load rope and gain of the plant to control input vary also. We have already verified the efficiency of the gain-scheduled H_∞ compensator using linear parameter-varying (LPV) model by simulations and experiments. But it has difficulities on its implementation for the experiment and on the tuning. So, this paper designs the gain-scheduled H_∞ compensator using liner fractional transformations (LFT) newly and compares the control performance and the robust stability of two design methods by experiments.
一般社団法人日本機械学会の論文
2001-08-03