直進形クレーンにおける吊り荷の横揺れ抑制制御

• 橋本 幸男

  室蘭工業大学

• 土谷 武士

  北海道大学工学部

• 杉岡 一郎

  室蘭工業大学

• 松田 敏彦

  室蘭工業大学

書誌事項

タイトル別名

• Transversal Load-Swing Suppression Control of Travelling Crane.

抄録

In travelling crane systems, the load-swing sometimes has an oscillation component perpendicular to a travelling direction by accidental disturbances. This paper analyzes the dynamics of the load swing with the rope length as another control channel to the crane system and proposes a control strategy both to suppress the load swing and to control the trolley position. In the control, the rope length is variated to move the load upwards and downwards following to a sinusoidal function so that the swing direction of the load rotates. At the same time, the trolley is controlled to eliminate the oscillation component of the load growing in its travelling direction and to approach to a desired position of the trolley. The control is evaluated by numerical experiments and proved to be effective.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 11 (7), 1073-1082, 1993

  一般社団法人 日本ロボット学会

キーワード

• Oscillation control
• Control of crane
• Travelling crane
• Control of nonlinear system

詳細情報

• CRID: 1390001204725502464
• NII論文ID: 10006718544
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.11.1073
• ISSN: 18847145
• ISSN: 02891824
• HANDLE: 10258/00008862
• Web Site: https://muroran-it.repo.nii.ac.jp/records/8873
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • IRDB
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可