A40 バックステッピング法によるジブクレーンの振れ止め制御(振動の解析と制御)

概要

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The basic motions of the slewing crane as construction machines are classified into cargo windup, boom derricking and boom slewing. The purposes of controlling the crane are to transfer to the target point the cargo as quickly as possible with suppressing the swaying and to quickly minimize the residual sway at the target point. At present, crane operation depends on the skill and sense of the operator, so its automatic operation is desirable from the standpoint of economy and safety. Methods based on an optimum reference pattern of suppressing the swaying and the feedback control system using a linear approximation around and the method based on which is proposed by authors are known until now. However, these methods are not effective for disturbance such as wind, and the stability is not shown in the proposed method. So, we have developed a method using the backstepping approach and have got remarkable effects.
2009-09-01