634 線形パラメータ変動系で表される搬送装置の制御に関する研究

概要

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In recent years, automatic crane device is used in scenes of handling of objects at warehouse. Stacker crane is an example of automatic crane device. It has a Traveling body, a Forking mechanism and a Lifting mechanism. A Traveling body makes a Lifting body move along the horizontal axis. A Lifting mechanism makes a Forking mechanism move along vertical axis. It is able to carry a load into rack or takes out a load from the rack by using Forking mechanism. But, in action of Forking mechanism, vibration of Forking mechanism and variation of characteristic frequency of Forking mechanism causes several problems. In this study, the stacker crane is described in LPV (Linear Parameter Varying) system. And, using DMM (Dual Model Matching) method provides the LPV controller that can adjust plant that explained by LPV system. The results of simulation show the effectiveness of LPV controller when DMM controlled is applied.
2009-08-03