風外乱と吊り荷重量を考慮したクレーン振れ止め制御

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: 2013/03/01

タイトル(英語): Anti-Sway Crane Control Considering Wind Disturbance and Container Mass

著者名: 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): 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，外乱推定，モデル誤差，振動抑制　　crane control，state observer，disturbance observer，disturbance estimation，model error，vibration suppression

要約(英語): A method for estimating the sway angle using an observer has already been proposed. The state observer estimates the sway angle accurately, and has to use the detected sway angle value. However, the estimated sway angle has an error owing to rope length error, friction force, and wind. Moreover, the container mass cannot be determined, therefore, the observer parameter is not suitable. We already proposed robust anti-sway control for overcoming rope length error without adding a new sensor. Further, we designed a friction disturbance observer to cancel out the influence of friction force. In this paper, we first propose a container mass estimation method when crane system performs rolling up control. The observer parameter can be selected by an estimated mass value. Second, in crane parallel shift control, we propose a robust anti-sway control even with wind disturbance. We design a wind disturbance observer and propose a wind disturbance estimator to separate the friction observer output from the wind disturbance observer output. We confirm via experiments that the proposed method can suppress vibration.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.133 No.3 （2013） 特集：産業計測制御全般

本誌掲載ページ: 262-271 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/133/3/133_262/_article/-char/ja/