クレーンの波動制御とフィードバック制御の統合振れ止め制御特性

抄録

This paper deals with the vibration control of a suspended simple pendulum system, a model of crane rope and load mass, by the lateral motion of the support. The wave control acceleration of the support was derived by the connecting condition of the real pendulum (rope and mass) to the wave-controlled multiple homogeneous simple pendulums virtually existing above the support. The velocity and position feedback control of the support was added to place the support at other than the original position. During winding up or down of the load mass the system becomes non-homogeneous simple pendulum system and the wave propagation shows a kind of mode localization which depresses the vibration control performance. The feedback control could cancel the mode localization and bring better control performance than the pure wave control. The effective feedback coefficients were investigated of the systems with the winding up and down action. From the simulation and experiment, the presented control was shown to be useful and practical for real crane systems.