C13 パラメータ変動を伴う搬送装置の制御に関する研究(OS8 機械・機械構造物の耐震・免震・振動制御(2)1)

概要

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Recently, stacker cranes are often used for carrying large industrial parts such as liquid crystal panels. The stacker crane consists of 3 parts, that is, trucking device, lifting device, and forking device. The trucking device carries the object horizontally to the target position, then the lifting device lifts it up vertically to the correct height. Finally, the forking device bring it on the final position by expanding the device. In this process, the forking device frequently generates undesirable vibration. Therefore it is required to control this vibration rapidly. In this system, natural frequencies of the forking device change with the fork length and the object weight (LPV system), and this makes control problem more difficult. In this paper, we propose new strategy to control the vibration by utilizing the lifting device's motion. In order to show the proposed method, we use a linear table and a flexible specimen as a dynamically equivalent model of the crane system. First, dynamics of the experimental equipment is identified, then the controller is designed by Dual Model Matching (DMM). Effectiveness of the DMM control method is verified through simulations and experiments.
2009-09-01