ねじれ回転する吊り荷を有するジブクレーンの搬送制御

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2016/06/01

タイトル(英語): Transport Control of a Jib Crane with a Rotating Cargo

著者名: 小谷　斉之（東海大学情報理工学部コンピュータ応用工学科），大内　茂人（東海大学情報理工学部コンピュータ応用工学科），高橋　孝一（富士アイティ（株）），平田　弘志（東海大学情報理工学部コンピュータ応用工学科）

著者名(英語): Nariyuki Kodani (Department of Applied Computer Engineering, Faculty of Information and Science Technology, Tokai University), Shigeto Ouchi (Department of Applied Computer Engineering, Faculty of Information and Science Technology, Tokai University), Koichi Takahashi (Fuji IT Co., Ltd.), Hiroshi Hirata (Department of Applied Computer Engineering, Faculty of Information and Science Technology, Tokai University)

キーワード: ジャイロ，センサ，オイラー角，制御，クレーン　　gyro，sensor，Euler's angle，control，crane

要約(英語): This paper describes about the process to obtain the position of a rotating and swaying cargo of a jib crane by using an Inertia Measurement Unit (IMU) which is possible to measure the attitude of a moving object. A number of researches on transporting and anti-swaying control of a crane are reported up to now. However, those related to a jib crane as against a overhead crane are few because the cargo of a jib crane is easy to rotate by the external effect such as acceleration and deceleration operations and disturbance. Therefore, we used an IMU as a sensor to measure the attitude of a cargo, and then we proposed one approach to obtain the position of a cargo by the relation between the coordinate system of a cargo mounted an IMU (ZYX Euler's angle) and the one of a rope (ZYZ Euler's angle) even if a cargo was rotating and swaying by wind. As a result, we could confirm the effectiveness for the position detection in the experiments, and also get good performances for transporting and anti-sway control of a jib crane.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.136 No.6 （2016） 特集：エネルギーデータ利用技術

本誌掲載ページ: 821-831 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/136/6/136_821/_article/-char/ja/