吊り荷ロープ長が変動する走行クレーンの振れ止め制御 : 非線形時間スケールを適用したオープンループ制御(機械力学,計測,自動制御)

概要

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The concrete placing of dam is carried out by a large-scale crane which a skill operator actuates based on the long experience. Automatic driving of the crane is recently expected for shortening the cycle time for carriage and placing of the concrete. The load needs to be rolled up and down while the trolley runs. Then, because the length of the hanging load rope changes with time and the crane system is time varying system, the conventional linear control theory is not applicable for the antisway control. In this study, an open-loop control is proposed by introducing nonlinear time scale, which is chosen so that the equivalent natural frequency is not changed regardless of the variation of the length of the load rope. The acceleration pattern is designed by introducing the nonlinear time scale and the residual vibration after the acceleration (or deceleration) can be avoided regardless of the velocity of the rolling-up (or down) of the hanging load rope. Finally, the validity of the proposed control technique is confirmed by numerical simulations.
2009-11-25