フィードバック制御シミュレーションに基づく水平2軸実機天井クレーンのセンサレス振れ止め制御

抄録

In recent years, there is a need for development of control method that stabilizes a load of crane. A number of vibration control methods have been proposed and those method divided into two main methods: feedback control that uses sensor measuring vibration of load and sequence control that makes motions for controlling vibration in advance. However, the former has some problems such as rise of cost and complication of the equipment due to installing sensors and the latter has some problems such as malfunction of vibration control in a variety of operations. For these problems, we propose control vibration method that is based on feedback simulation using a dynamic model of the crane. In the proposed method, sensorless vibration control is realized by inputting control variable generated in simulation space into a real crane. Furthermore, the feedback controller in the simulation is designed to adapt wire length change. The proposed method is applied to a real overhead crane and sufficient vibration control performance was obtained in two verification experiments, that is, 1-horizontal axis experiment with varying wire length and 2-horizontal axis experiment with constant wire length.