摩擦外乱オブザーバを拡張したクレーン振動抑制制御系のロバスト化の一検討

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2012/03/01

タイトル(英語): Robust Design of Vibration Suppression Control System for Crane Using Sway Angle Observer Considering Friction Disturbance

著者名: 佐野　洋基（長岡技術科学大学），佐藤健太郎（長岡技術科学大学），大石　潔（長岡技術科学大学），宮崎　敏昌（長岡技術科学大学）

著者名(英語): Hiroki Sano (Nagaoka University of Technology), Kentaro Sato (Nagaoka University of Technology), Kiyoshi Ohishi (Nagaoka University of Technology), Toshimasa Miyazaki (Nagaoka University of Technology)

キーワード: クレーン制御，状態オブザーバ，外乱オブザーバ，モデル誤差，振動抑制，ロバスト安定性　　crane control，state observer，disturbance observer，model error，vibration suppression，robust stability

要約(英語): It is desirable for a container crane to operate smoothly and quickly. For this purpose, the control system of a container crane should be capable of anti-sway control for suppressing vibrations. A vision sensor system is often used to detect the sway angle. However, since a control system with a vision sensor has a delay time when determining the angle, it sometimes leads to the deterioration of the control performance owing to the delay time. In order to overcome this problem, this paper proposes a new anti-sway crane control system based on a dual-state observer with sensor-delay correction. However, because of nonlinear friction in the crane, the estimation accuracy achieved by using the observer is poor. To overcome this problem, this paper proposes a disturbance observer considering friction disturbance. The control performance and effectiveness of the proposed robust control system based on the estimated information are confirmed to be satisfactory from experimental results.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.132 No.3 （2012） 特集：産業計測制御全般

本誌掲載ページ: 357-365 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/ieejias/132/3/132_3_357/_article/-char/ja/