2012 Volume 132 Issue 3 Pages 357-365
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.
The transactions of the Institute of Electrical Engineers of Japan.C
The transactions of the Institute of Electrical Engineers of Japan.B
The transactions of the Institute of Electrical Engineers of Japan.A
The Journal of the Institute of Electrical Engineers of Japan