吊り荷状態変化を考慮した自動搬送クレーンのロバスト制御 Robust Control of an Automatic Traveling Crane for Various Situations of Loads
Operating a traveling crane in the plant is very complex, therefore an automatic tracking control of the crane operation is expected. This study describes automatic traveling motion control of the crane system for the purpose of suppressing the swing of load in several situations. Automatic traveling motion control requires that both the swinging of load and the tracking position of the trolley are controlled simultaneously. H^∞ servo controller based the time domain characteristics is adopted in the controller design in order to improve the robust performance. Some experiments were conducted in various situations of loads. The results were showed effectiveness of the H^∞ servo controller. The reason for achieving robustness to modeling error at the band of high frequency was confirmed by controller design, which suppressed the frequency characteristics of the complementary sensitivity function.
岐阜工業高等専門学校紀要 37, 31-36, 2002-03-01