ブーム長変化を考慮したクレーンアクチュエータのゲインスケジューリング制御

抄録

This paper proposes a gain-scheduling control method to stabilize the slewing angular velocity even with variations in crane boom length and perturbations in the controlled-plant model. The model used in the proposed gain-scheduling control system is identified through experiments on an actual crane, and are derived under three boom length conditions. Specifically, the model is expressed as the sum of four vibration modes and a time delay, and its parameters are identified. By linearly interpolating the three models, the gain of a type-one control system including an observer is designed for each 0.5m boom length, after considering the time delay. The proposed gain-scheduling control is realized by selectively applying these gains according to the boom length. In an experiment to verify the effectiveness of the proposed method, a step reference was input for the slewing angular velocity while extending the boom length, and its time response was compared to that of a single controller designed for a boom length of 20m (midpoint). The experimental results showed that the time response of the single controller deteriorated when the boom length of the crane was extended, especially beyond 20m, while the proposed method was able to stably control the slewing angular velocity of the crane even when the boom length reached 30m.