443 タワークレーンの吊り荷ロープ長およびブーム起伏角度変動を考慮した制御

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. We have already shown that it is possible to control both the sway and the vibration by the inherent capability of the tower crane by using the gain-scheduled controller considering varying the lode-rope length. However, as the boom approaches the horizontal or vertical attitude, performance of the controller become worse. So, in this study we design the gain-scheduled controller considering both the boom angle and the load-rope length. To obtain the linear parameter-varying (LPV) model for controller design, its Frobenius norm is measured. The control performance of the proposed method is verified by simultation.
社団法人日本機械学会の論文
2002-09-13