2019 Volume 139 Issue 4 Pages 421-428
Since the cranes are well used in many industrial situation, efficient crane control algorithm is required. The anti-sway control is one of the most important task. For anti-sway control of overhead crane, a deflection angle must be estimated. However, it is difficult to estimate deflection angle directly. Therefore, this paper treats an indirect measurement method for the angle by using two microphones. Here, we show a selection of initial solution to improve the convergence speed of the Newton's method. Also, we utilize a median filter to remove impulse noise from the angle. From experimental results, the number of iteration can be reduced by using the proposed method.
The transactions of the Institute of Electrical Engineers of Japan.C
The Journal of the Institute of Electrical Engineers of Japan